CN114845934A - System and method for stopping movement of operating member - Google Patents

Abstract

A method is provided that includes moving an operating member of a system. The method includes driving power or control signals through the conductive coupling member. An electrically conductive coupling member is connected between the first and second terminals in the power circuit, and the coupling member secures the operating member to a structural member of the system. The method includes detecting an electrical disconnection between the first terminal and the second terminal. The method includes determining a mechanical break associated with the coupling member based on an electrical disconnection between the first terminal and the second terminal. The method includes causing an operating member of the system to stop moving based on determining a mechanical break associated with the coupling member.

Description

Translated fromChinese

用于停止操作构件移动的系统和方法System and method for stopping movement of operating member

相关申请的交叉引用CROSS-REFERENCE TO RELATED APPLICATIONS

本申请要求2019年12月27日提交的美国专利申请第16/729,167号的优先权，该申请通过引用整体并入本文并用于所有目的。This application claims priority to US Patent Application No. 16/729,167, filed on December 27, 2019, which is hereby incorporated by reference in its entirety and for all purposes.

背景技术Background technique

无人载具，也可以被称为自主载具，是一种能够在没有物理存在的人类操作员的情况下行进的载具。无人载具可以在远程控制模式、自主模式或部分自主模式下操作。An unmanned vehicle, also known as an autonomous vehicle, is a vehicle that is capable of traveling without a physical presence of a human operator. Unmanned vehicles can operate in remote control mode, autonomous mode or partially autonomous mode.

当无人载具在远程控制模式下操作时，处于远程位置的飞行员或驾驶员可以通过经由无线链路发送给无人载具的命令来控制无人载具。当无人载具在自主模式下操作时，无人载具典型地基于预编程的导航航路点、动态自动化系统或这些的组合来移动。此外，一些无人载具可以在远程控制模式和自主模式两者下操作，并且在一些实例中可以同时这样做。例如，远程飞行员或驾驶员可能希望将导航留给自主系统，同时手动执行另一任务，诸如操作机械系统来例如拾取对象。When the unmanned vehicle is operating in a remote control mode, a pilot or driver in a remote location can control the unmanned vehicle through commands sent to the unmanned vehicle via the wireless link. When an unmanned vehicle is operating in an autonomous mode, the unmanned vehicle typically moves based on pre-programmed navigational waypoints, dynamic automation systems, or a combination of these. Additionally, some unmanned vehicles may operate in both remote control and autonomous modes, and in some instances simultaneously. For example, a remote pilot or driver may wish to leave navigation to an autonomous system while manually performing another task, such as operating a mechanical system to pick up an object, for example.

对于各种不同的环境，存在各种类型的无人载具。例如，无人载具针对在空中、地面、水下和太空中的操作存在。示例包括四轴直升机和尾座式(tail-sitter)UAV等。无人载具也针对多环境操作是可能的混合操作而存在。混合无人载具的示例包括能够在陆地上和在水上操作的水陆两用船，或者能够在水上和在陆地上降落的飞行艇。其他示例也是可能的。Various types of unmanned vehicles exist for a variety of different environments. For example, unmanned vehicles exist for operations in the air, on the ground, underwater, and in space. Examples include quadcopters and tail-sitter UAVs, among others. Unmanned vehicles also exist for hybrid operations where multi-environmental operations are possible. Examples of hybrid unmanned vehicles include an amphibious vessel capable of operating on land and water, or an airship capable of landing on water and land. Other examples are also possible.

诸如UAV或者更一般地，飞行器的系统可以具有操作构件，该操作构件移动以促进执行功能。例如，在飞行器中，马达可以移动螺旋桨(propeller)并引起飞行器的升力。例如，这可以允许UAV执行递送操作。在一些情境下，诸如螺钉、带子、夹子等耦合构件可能破裂或变松，并且导致一个或多个操作构件从诸如UAV的悬臂的结构构件变得不固定。在这些情景下，操作构件可以继续移动，但是因为它没有被从结构构件固定，所以不能如预期的那样操作。这可以通过在系统的至少一个组件的操作中引入模糊性而对系统的其他部分进行负面影响。Systems such as UAVs or, more generally, aircraft may have operating members that move to facilitate performing functions. For example, in an aircraft, a motor may move a propeller and cause lift of the aircraft. For example, this may allow the UAV to perform delivery operations. In some scenarios, coupling members such as screws, straps, clips, etc. may crack or become loose and cause one or more operative members to become loose from a structural member such as a cantilever of a UAV. In these scenarios, the operating member may continue to move, but because it is not secured from the structural member, it will not operate as intended. This can negatively impact other parts of the system by introducing ambiguity into the operation of at least one component of the system.

因此，将期望通过使用耦合构件使固定到结构构件的操作构件响应于耦合构件的机械破裂而停止移动。这可以有利地允许系统更可预测地操作，或许同时响应于检测了机械破裂而采取一个或多个动作。Accordingly, it would be desirable to use a coupling member to stop movement of an operating member secured to a structural member in response to mechanical rupture of the coupling member. This may advantageously allow the system to operate more predictably, perhaps while taking one or more actions in response to detecting a mechanical rupture.

发明内容SUMMARY OF THE INVENTION

本实施例有利地提供了一种飞行器、方法和系统，其中操作构件响应于耦合构件中的机械破裂而停止移动。电力电路用于向操作构件提供电力或控制信号。电力电路包括导电耦合构件。耦合构件位于电力电路中，使得如果耦合构件经历机械破裂，则操作构件停止接收电力或控制信号的各方面，并且相应地停止移动。The present embodiments advantageously provide an aircraft, method and system in which the operating member ceases movement in response to a mechanical rupture in the coupling member. The power circuit is used to provide power or control signals to the operating member. The power circuit includes a conductive coupling member. The coupling member is located in the power circuit such that if the coupling member experiences a mechanical rupture, the operating member ceases to receive aspects of the power or control signal, and accordingly ceases movement.

在示例中，操作构件包括被配置为移动螺旋桨的马达，并且耦合构件包括螺钉。螺钉可以由导电金属构成，并且可以用作电力电路的一部分。如果螺钉的螺纹变得滑牙(stripped)，则螺钉不再将马达保持在结构构件(例如，飞行器的悬臂)的适当地方。此外，因为电力或控制信号是经由螺钉提供给马达的，所以滑牙的螺纹也阻止了马达接收电力或控制信号。在该示例和其他示例中，耦合构件的导电属性可以用于被动地感测和减轻系统中的机械破裂。In an example, the operating member includes a motor configured to move the propeller, and the coupling member includes a screw. Screws can be constructed of conductive metal and can be used as part of a power circuit. If the threads of the screw become stripped, the screw no longer holds the motor in place on the structural member (eg, the cantilever of the aircraft). Furthermore, because the power or control signal is provided to the motor via the screw, the threads of the sliding teeth also prevent the motor from receiving the power or control signal. In this and other examples, the conductive properties of the coupling member can be used to passively sense and mitigate mechanical ruptures in the system.

在一方面，提供了一种飞行器。飞行器包括电力电路。飞行器包括操作构件，该操作构件被配置为响应于从电力电路接收电力或控制信号而移动。飞行器包括被配置为稳定飞行器的一个或多个操作构件的结构构件。飞行器包括耦合构件，该耦合构件被配置为在接触点处将操作构件固定到结构构件。耦合构件包括结合到第一端子和第二端子之间的电力电路中的导电材料。耦合构件的机械破裂导致：(i)操作构件在接触点处变得与结构构件不固定，以及(ii)第一端子和第二端子之间的电气断开。电气断开停止电力或控制信号，从而停止操作构件的移动。In one aspect, an aircraft is provided. The aircraft includes electrical circuits. The aircraft includes an operating member configured to move in response to receiving power or a control signal from a power circuit. The aircraft includes structural members configured to stabilize one or more operational members of the aircraft. The aircraft includes a coupling member configured to secure the operating member to the structural member at the point of contact. The coupling member includes a conductive material incorporated into the power circuit between the first terminal and the second terminal. Mechanical rupture of the coupling member results in: (i) the operating member becoming loose from the structural member at the point of contact, and (ii) electrical disconnection between the first and second terminals. Electrical disconnection stops the power or control signal, thereby stopping movement of the operating member.

在另一方面，提供了一种方法。该方法包括使系统的操作构件移动。该方法包括通过导电耦合构件驱动电力或控制信号。导电耦合构件连接在电力电路中的第一端子和第二端子之间，并且耦合构件将操作构件固定到系统的结构构件。该方法包括检测第一端子和第二端子之间的电气断开。该方法包括基于第一端子和第二端子之间的电气断开来确定与耦合构件相关联的机械破裂。该方法包括基于确定与耦合构件相关联的机械破裂，使系统的操作构件停止移动。In another aspect, a method is provided. The method includes moving an operating member of the system. The method includes driving a power or control signal through the conductive coupling member. The conductive coupling member is connected between the first terminal and the second terminal in the power circuit, and the coupling member secures the operating member to the structural member of the system. The method includes detecting an electrical disconnect between the first terminal and the second terminal. The method includes determining a mechanical rupture associated with the coupling member based on the electrical disconnect between the first terminal and the second terminal. The method includes stopping movement of the operating member of the system based on determining a mechanical rupture associated with the coupling member.

在另一方面，提供了一种系统。该系统包括电力电路。该系统包括多个操作构件，这些操作构件被配置为响应于从电力电路接收相应的电力或控制信号而移动。该系统包括被配置为稳定多个操作构件的一个或多个结构构件。该系统包括多个耦合构件，其被配置为在多个接触点处将多个操作构件固定到一个或多个结构构件。多个耦合构件的每个相应耦合构件包括在相应第一端子和相应第二端子之间结合到电力电路中的导电材料。相应耦合构件的机械破裂导致：(i)对应于相应耦合构件的相应操作构件变得在对应的接触点处与对应的结构构件不固定，以及(ii)相应第一端子和相应第二端子之间的电气断开。电气断开停止相应的电力或控制信号到达对应的操作构件，从而停止对应的操作构件移动。In another aspect, a system is provided. The system includes a power circuit. The system includes a plurality of operating members configured to move in response to receiving corresponding power or control signals from a power circuit. The system includes one or more structural members configured to stabilize a plurality of operational members. The system includes a plurality of coupling members configured to secure a plurality of operative members to one or more structural members at a plurality of contact points. Each respective coupling member of the plurality of coupling members includes a conductive material incorporated into the power circuit between a respective first terminal and a respective second terminal. Mechanical rupture of the corresponding coupling member causes: (i) the corresponding operating member corresponding to the corresponding coupling member to become unsecured with the corresponding structural member at the corresponding contact point, and (ii) the connection between the corresponding first terminal and the corresponding second terminal. electrical disconnection between. Electrical disconnection stops the corresponding power or control signal from reaching the corresponding operating member, thereby stopping the corresponding operating member from moving.

本实施例还提供了一种系统。该系统包括用于使系统的操作构件移动的装置。该系统包括用于通过导电耦合构件驱动电力或控制信号的装置。导电耦合构件连接在电力电路中的第一端子和第二端子之间，并且耦合构件将操作构件固定到系统的结构构件。该系统包括用于检测第一端子和第二端子之间的电气断开的装置。该系统包括用于基于第一端子和第二端子之间的电气断开来确定与耦合构件相关联的机械破裂的装置。该系统包括用于基于确定与耦合构件相关联的机械破裂来使系统的操作构件停止移动的装置。This embodiment also provides a system. The system includes means for moving an operating member of the system. The system includes means for driving electrical power or control signals through the conductive coupling member. The conductive coupling member is connected between the first terminal and the second terminal in the power circuit, and the coupling member secures the operating member to the structural member of the system. The system includes means for detecting electrical disconnection between the first terminal and the second terminal. The system includes means for determining a mechanical rupture associated with the coupling member based on the electrical disconnection between the first terminal and the second terminal. The system includes means for stopping movement of the operating member of the system based on determining a mechanical rupture associated with the coupling member.

通过适当参考附图阅读下面的详细描述，这些以及其他方面、优点和替代方案对于本领域普通技术人员来说将变得清晰。此外，应当理解，在本发明内容部分和本文档的其他地方提供的描述旨在通过示例而非限制的方式来说明所要求保护的主题。These and other aspects, advantages and alternatives will become apparent to those of ordinary skill in the art upon reading the following detailed description with appropriate reference to the accompanying drawings. Furthermore, it is to be understood that the description provided in this Summary section and elsewhere in this document is intended to illustrate the claimed subject matter by way of example and not limitation.

附图说明Description of drawings

图1是根据示例实施例的示例无人飞行器的等距视图。1 is an isometric view of an example unmanned aerial vehicle in accordance with example embodiments.

图2是示出根据示例实施例的无人飞行器的组件的简化框图。2 is a simplified block diagram illustrating components of an unmanned aerial vehicle according to an example embodiment.

图3是示出了根据示例的UAV系统的简化框图。3 is a simplified block diagram illustrating a UAV system according to an example.

图4是根据示例的系统的简化框图。4 is a simplified block diagram of a system according to an example.

图5A是根据示例的处于第一状态的电力电路的简化图示。5A is a simplified illustration of a power circuit in a first state, according to an example.

图5B是根据示例的处于第二状态的电力电路的简化图示。5B is a simplified illustration of a power circuit in a second state, according to an example.

图6A是根据示例的处于第一状态的结构构件的简化图示。6A is a simplified illustration of a structural member in a first state, according to an example.

图6B是根据示例的处于第二状态的结构构件的简化图示。6B is a simplified illustration of a structural member in a second state, according to an example.

图7是根据示例的结构构件的简化图示。7 is a simplified illustration of a structural member according to an example.

图8A是根据示例的处于第一状态的结构构件的简化图示。8A is a simplified illustration of a structural member in a first state, according to an example.

图8B是根据示例的处于第二状态的结构构件的简化图示。8B is a simplified illustration of a structural member in a second state, according to an example.

图9是根据示例的方法的框图。9 is a block diagram of a method according to an example.

图10是根据示例的方法的框图。10 is a block diagram of a method according to an example.

具体实施方式Detailed ways

本文描述了示例性的方法和系统。应当理解，本文使用的词“示例性”意味着“用作示例、实例或说明”。本文描述为“示例性”或“说明性”的任何实现或特征不一定被解释为比其他实现或特征更优选或更有利。在附图中，相似的符号典型地标识相似的组件，除非上下文另有指示。本文描述的示例实现不意味着限制。将容易理解的是，如在本文中一般描述的和在附图中示出的，本公开的各方面可以以多种不同的配置来布置、替换、组合、分开和设计，所有这些在本文中都被考虑在内。Exemplary methods and systems are described herein. It should be understood that the word "exemplary" as used herein means "serving as an example, instance, or illustration." Any implementation or feature described herein as "exemplary" or "illustrative" is not necessarily to be construed as preferred or advantageous over other implementations or features. In the drawings, similar symbols typically identify similar components, unless context dictates otherwise. The example implementations described herein are not meant to be limiting. It will be readily understood that, as generally described herein and illustrated in the accompanying drawings, aspects of the present disclosure may be arranged, substituted, combined, divided and designed in a variety of different configurations, all of which are herein are all taken into account.

I.概述I. Overview

本实施例有利地提供了用于改变系统中操作构件的状态的飞行器、方法和系统。本实施例涉及使用耦合构件固定到结构构件的操作构件。如本文所用，“操作构件”通常涉及在系统操作期间执行主动功能的构件，诸如生成移动的构件。作为非限制性示例，在飞行器的背景下，马达、伺服机构、活塞和致动器均可以被视为操作构件。在一些示例中，即使当不利于这样做时，操作构件也可以继续发挥作用。例如，在飞行器的情境下，如果马达和/或对应的螺旋桨变得不固定，它可能在飞行器上施加非预期的力矢量，并使系统的其他构件进行应变，以便校正这些不期望的力。此外，这样的非预期的操作可能导致关于系统环境的错误确定。例如，未固定的马达和/或螺旋桨可能导致飞行器以类似于飞行器经历湍流时所造成的方式倾侧(list)、倾斜和/或旋转。这可能导致飞行器不必要地停飞，或者在关于环境的错误确定下操作。因此，在这些情境内，期望操作构件停止移动。以这种方式，前述马达/螺旋桨可以不产生任何升力，但是飞行器中的其他螺旋桨可以可预测地操作飞行器，以解决典型地由马达生成的升力的不足的问题。The present embodiments advantageously provide an aircraft, method, and system for changing the state of an operational member in a system. This embodiment relates to an operating member secured to a structural member using a coupling member. As used herein, an "operational component" generally refers to a component that performs an active function during system operation, such as a component that generates movement. As a non-limiting example, in the context of an aircraft, motors, servos, pistons and actuators may all be considered operating members. In some examples, the operating member may continue to function even when it is not advantageous to do so. For example, in the context of an aircraft, if a motor and/or corresponding propeller becomes unstable, it may impose unintended force vectors on the aircraft and strain other components of the system in order to correct for these undesired forces. Furthermore, such unintended operation may lead to erroneous determinations about the system environment. For example, unsecured motors and/or propellers may cause the aircraft to list, pitch and/or spin in a manner similar to that caused when the aircraft experiences turbulence. This may result in the aircraft being grounded unnecessarily, or operating under erroneous determinations about the environment. Therefore, within these situations, it is desirable for the operating member to stop moving. In this way, the aforementioned motors/propellers may not generate any lift, but other propellers in the aircraft may operate the aircraft predictably to account for the lack of lift typically generated by the motors.

为了促进这样的操作，耦合构件可以是导电的，并且被集成到用于向操作构件提供电力或控制信号的电力电路中。如本文所用，术语“电力或控制信号”是指向操作构件供应电力并由此允许其产生移动的信号(例如，操作构件的电力输入端子和电力总线之间的连接可以被认为是电力信号)或向操作构件传输(carry)控制信息并由此控制其移动的各方面的信号(例如，在操作构件的控制输入端子处接收的调制信号可以被认为是控制信号)。例如，耦合构件可以提供发送给用于驱动螺旋桨的马达的多相(例如，三相)信号的一个或多个相，可以对应于马达的输入信号(例如，用于控制马达速度的脉宽调制(PWM)信号)，或者可以将马达直接连接到电力总线。在进一步的示例中，控制器局域网(CAN)信号可以类似地经由耦合构件控制操作构件的移动。这些构件被配置为使得如果耦合构件故障(例如，经历机械破裂)，则电力或控制信号被中断，并且操作构件的状态改变。以这种方式，如果耦合构件经历机械破裂，则马达自动停止移动。To facilitate such operation, the coupling member may be conductive and integrated into a power circuit for providing power or control signals to the operating member. As used herein, the term "power or control signal" refers to a signal that supplies power to an operating member and thereby allows it to move (eg, a connection between a power input terminal of an operating member and a power bus may be considered a power signal) or Signals that carry control information to the operating member and thereby control aspects of its movement (eg, a modulated signal received at a control input terminal of the operating member may be considered a control signal). For example, the coupling member may provide one or more phases of a polyphase (eg, three-phase) signal sent to a motor used to drive the propeller, which may correspond to an input signal to the motor (eg, a pulse width modulation used to control the speed of the motor). (PWM) signal), or the motor can be connected directly to the power bus. In a further example, a controller area network (CAN) signal may similarly control movement of the operating member via the coupling member. These members are configured such that if the coupling member fails (eg, experiences a mechanical rupture), the power or control signal is interrupted and the state of the operating member changes. In this way, if the coupling member experiences a mechanical rupture, the motor automatically stops moving.

在示例中，耦合构件可以是由导电材料构成的螺钉。螺钉可以在接触点处将操作构件固定到结构构件(例如，飞行器的悬臂)上。接触点可同时将耦合构件耦合到结构构件，并用作电力电路中两个端子的电气连接点。例如，可以在接触点处使用螺钉将两个端子保持在一起，并且具有滑牙的螺纹或另一机械破裂(例如，螺钉的剪切破裂，诸如螺钉轴破裂，或螺钉的“拉穿(pull through)”，诸如螺钉拉穿结构构件)的螺钉可能导致两个端子断开。因此，由于螺钉的机械破裂，操作构件停止移动。在其他示例中，耦合构件可以是铆钉或被配置用于将操作构件耦合到结构构件的另一组件。In an example, the coupling member may be a screw composed of a conductive material. The screws may secure the operating member to the structural member (eg, the cantilever of the aircraft) at the point of contact. The contact points may simultaneously couple the coupling member to the structural member and serve as electrical connection points for two terminals in the power circuit. For example, a screw may be used to hold the two terminals together at the point of contact, and have threads with a slip or another mechanical fracture (eg, a shear fracture of the screw, such as a screw shaft fracture, or a "pull through" of the screw through)", such as a screw pulling through a structural member) may cause the two terminals to disconnect. Therefore, the movement of the operating member is stopped due to mechanical breakage of the screw. In other examples, the coupling member may be a rivet or another component configured to couple the operating member to the structural member.

在示例中，耦合构件用于向系统的中央控制器提供状态更新。例如，计算设备可以从电力电路接收输出，并检测两个端子之间的电气断开。然后，计算设备可以控制对应的操作构件停止移动，并改变其他操作构件的操作，以补偿操作构件不移动。因此，提供了允许基于检测与第一操作构件相关联的耦合构件的机械故障来改变第二操作构件的操作的系统和方法。In an example, the coupling member is used to provide status updates to the central controller of the system. For example, a computing device may receive output from a power circuit and detect an electrical disconnect between two terminals. Then, the computing device can control the corresponding operating member to stop moving, and change the operation of other operating members to compensate for the non-movement of the operating members. Accordingly, systems and methods are provided that allow the operation of a second operating member to be altered based on detecting a mechanical failure of a coupling member associated with the first operating member.

在进一步的示例中，导电特征可以被结合到系统的结构构件中，并且检测的导电特征的特性可以被用于确定结构的状态。例如，对结构构件的冲击可能改变导电特征的电导率(例如，通过增加电阻水平)。计算设备可以检测电导率的这种改变，以确定结构构件的状态改变。计算设备可以基于该确定来控制系统的操作构件，或者调度系统的维护。因此，系统的导电方面可以用于检测机械破裂、故障状态等，并且计算设备可以相应地控制系统。In a further example, conductive features can be incorporated into structural components of the system, and the detected properties of the conductive features can be used to determine the state of the structure. For example, an impact to the structural member may change the conductivity of the conductive feature (eg, by increasing the resistance level). A computing device can detect this change in conductivity to determine a change in state of the structural member. The computing device may control operating components of the system or schedule maintenance of the system based on the determination. Thus, the conductive aspects of the system can be used to detect mechanical ruptures, fault conditions, etc., and the computing device can control the system accordingly.

II.示例性无人载具II. Exemplary Unmanned Vehicle

在本文中，术语“无人飞行器”和“UAV”指的是能够在没有物理存在的人类飞行员的情况下执行一些功能的任何自主或半自主载具。As used herein, the terms "unmanned aerial vehicle" and "UAV" refer to any autonomous or semi-autonomous vehicle capable of performing some functions without a physically present human pilot.

UAV可以采取各种形式。例如，UAV可以采取固定翼飞行器、滑翔飞行器、尾座式飞行器、喷气式飞行器、导管风扇飞行器、诸如软式飞艇或可操纵气球的轻于空气的飞船、诸如直升机或多翼飞机和/或扑翼飞机的旋翼飞行器等形式。此外，术语“无人机”、“无人飞行器系统”(UAVS)或“无人驾驶飞行系统”(UAS)也可用于指代UAV。UAVs can take various forms. For example, UAVs may take the form of fixed-wing aircraft, gliders, tail-mounted aircraft, jet aircraft, ducted fan aircraft, lighter-than-air craft such as blimps or steerable balloons, helicopters or multi-planes, and/or flappers Wing aircraft, rotorcraft, etc. Additionally, the terms "unmanned aerial vehicle", "unmanned aerial vehicle system" (UAVS), or "unmanned aerial system" (UAS) may also be used to refer to UAVs.

图1是示例UAV 100的等距视图。UAV 100包括机翼102、吊杆104和机身106。机翼102可以是静止的，并且可以基于机翼形状和UAV的向前空速生成升力。例如，两个机翼102可以具有翼型横截面，以在UAV 100上产生空气动力。在一些实施例中，机翼102可以携带水平推进单元108，并且吊杆104可以携带垂直推进单元110。在操作中，推进单元的电力可以由机身106的电池舱112提供。在一些实施例中，机身106还包括航空电子舱114、附加的电池舱(未示出)和/或用于处理有效载荷的递送单元(未示出，例如绞盘系统)。在一些实施例中，机身106是模块化的，并且两个或更多个舱(例如，电池舱112、航空电子舱114、其他有效载荷和递送舱)可彼此可拆卸并且可彼此固定(例如，机械地、磁性地或以其他方式)以连续地形成机身106的至少一部分。FIG. 1 is an isometric view of anexample UAV 100 .UAV 100 includeswings 102 ,booms 104 andfuselage 106 . Theairfoil 102 may be stationary and may generate lift based on the airfoil shape and the forward airspeed of the UAV. For example, the twowings 102 may have airfoil cross-sections to create aerodynamic forces on theUAV 100 . In some embodiments,wings 102 may carryhorizontal propulsion units 108 andbooms 104 may carryvertical propulsion units 110 . In operation, power for the propulsion unit may be provided by thebattery bay 112 of thefuselage 106 . In some embodiments, thefuselage 106 also includes anavionics bay 114, an additional battery bay (not shown), and/or a delivery unit (not shown, such as a winch system) for handling payloads. In some embodiments,fuselage 106 is modular, and two or more compartments (eg,battery compartment 112,avionics compartment 114, other payloads, and delivery compartments) are removable from each other and affixed to each other ( For example, mechanically, magnetically, or otherwise) to continuously form at least a portion of thefuselage 106 .

在一些实施例中，吊杆104终止于方向舵116，用于改进UAV 100的偏航控制。此外，机翼102可以包括一个或多个副翼，用于改进AUV 100的横滚控制。In some embodiments,boom 104 terminates inrudder 116 for improved yaw control ofUAV 100 . Additionally, thewings 102 may include one or more ailerons for improving the roll control of theAUV 100 .

在所示的配置中，UAV 100包括结构框架。结构框架可以被称为UAV的“结构H形框架”或“H形框架”(未示出)。H形框架可以包括在机翼102内的翼梁(未示出)和在吊杆104内的吊杆托架(未示出)。在一些实施例中，翼梁和吊杆支架可以由碳纤维、硬塑料、铝、轻金属合金或其他材料制成。翼梁和吊杆架可以用夹具连接。翼梁可以包括用于水平推进单元108的预钻孔，并且吊杆支架可以包括用于垂直推进单元110的预钻孔。In the configuration shown,UAV 100 includes a structural frame. The structural frame may be referred to as the "structural H-frame" or "H-frame" of the UAV (not shown). The H-frame may include spars (not shown) within thewing 102 and boom brackets (not shown) within theboom 104 . In some embodiments, the spars and boom brackets may be made of carbon fiber, hard plastic, aluminum, light metal alloys, or other materials. Spars and boom frames can be attached with clamps. The spars may include pre-drilled holes for thehorizontal propulsion unit 108 , and the boom brackets may include pre-drilled holes for thevertical propulsion unit 110 .

在一些实施例中，机身106可以可移除地附接到H形框架(例如，通过夹具附接到翼梁，配置有凹槽、突起或其他特征以与对应的H形框架特征匹配等)。在其他实施例中，机身106类似地可以可移除地附接到机翼102。机身106的可移除附接物可以提高UAV 100的质量和/或模块化。例如，机身106的电气/机械组件和/或子系统可以与H形框架分开测试，并且在附接到H形框架之前进行测试。类似地，印刷电路板(PCB)118可以与吊杆支架分开测试，并且在被附接到吊杆支架之前进行测试，因此在完成UAV之前消除了有缺陷的部分/子总成。例如，机身106的组件(例如，航空电子设备、电池单元、递送单元、附加电池舱等)可以在机身106安装到H形框架之前进行电气测试。此外，PCB 118的马达和电子器件也可以在最终总装之前进行电气测试。一般地，在总装过程的早期识别有缺陷的部分和子总成降低了UAV的总成本和提前期。此外，不同类型/型号的机身106可以附接到H形框架，因此提高了设计的模块化。这样的模块化允许UAV 100的这些各种部分被升级，而不需要对制造过程进行实质性的改造。In some embodiments, thefuselage 106 may be removably attached to the H-frame (eg, attached to the spars by clips, configured with grooves, protrusions or other features to mate with corresponding H-frame features, etc.) ). In other embodiments, thefuselage 106 may similarly be removably attached to thewings 102 . Removable attachments to thefuselage 106 may improve the quality and/or modularity of theUAV 100 . For example, electrical/mechanical components and/or subsystems of thefuselage 106 may be tested separately from the H-frame and tested prior to attachment to the H-frame. Similarly, the printed circuit board (PCB) 118 can be tested separately from the boom bracket and tested before being attached to the boom bracket, thus eliminating defective parts/sub-assemblies before completing the UAV. For example, components of fuselage 106 (eg, avionics, battery cells, delivery units, additional battery bays, etc.) may be electrically tested beforefuselage 106 is mounted to the H-frame. Additionally, the motors and electronics of thePCB 118 may also be electrically tested prior to final assembly. Generally, identifying defective parts and subassemblies early in the final assembly process reduces the overall cost and lead time of the UAV. Additionally, different types/models offuselage 106 can be attached to the H-frame, thus increasing the modularity of the design. Such modularity allows these various parts of theUAV 100 to be upgraded without requiring substantial modifications to the manufacturing process.

在一些实施例中，机翼壳体和吊杆壳体可以通过粘合元件(例如，胶带、双面胶带、胶水等)附接到H形框架。因此，可以将多个壳体附接到H形框架上，而不是具有围绕H形框架模制的整体式主体。在一些实施例中，多个壳体的存在降低了由UAV的结构框架的热膨胀系数引起的应力。结果，UAV可以具有更好的尺寸精度和/或改进的可靠性。In some embodiments, the wing shells and boom shells may be attached to the H-frame by adhesive elements (eg, tape, double-sided tape, glue, etc.). Thus, instead of having a one-piece body molded around the H-frame, multiple housings can be attached to the H-frame. In some embodiments, the presence of multiple shells reduces stresses caused by the coefficient of thermal expansion of the structural frame of the UAV. As a result, UAVs may have better dimensional accuracy and/or improved reliability.

此外，在至少一些实施例中，相同的H形框架可以与具有不同尺寸和/或设计的机翼壳体和/或吊杆壳体一起使用，因此提高了UAV设计的模块化和通用性。机翼壳体和/或吊杆壳体可以由相对轻的聚合物(例如闭孔泡沫)制成，由较硬但相对薄的塑料蒙皮覆盖。Furthermore, in at least some embodiments, the same H-frame can be used with wing housings and/or boom housings of different sizes and/or designs, thus increasing the modularity and versatility of UAV designs. The wing shells and/or boom shells may be made of a relatively light polymer (eg closed cell foam) covered by a relatively stiff but relatively thin plastic skin.

来自机身106的电力和/或控制信号可以通过穿过机身106、机翼102和吊杆104敷设的电缆路由到PCB 118。在所示实施例中，UAV 100具有四个PCB，但是其他数量的PCB也是可能的。例如，UAV 100可以包括两个PCB，每个吊杆一个。PCB携带电子组件119，包括例如电力转换器、控制器、存储器、无源组件等。在操作中，UAV 100的推进单元108和110电气连接到PCB。Power and/or control signals from thefuselage 106 may be routed to thePCB 118 through cables routed through thefuselage 106 , thewings 102 , and theboom 104 . In the embodiment shown, theUAV 100 has four PCBs, but other numbers of PCBs are possible. For example,UAV 100 may include two PCBs, one for each boom. The PCB carrieselectronic components 119 including, for example, power converters, controllers, memory, passive components, and the like. In operation, thepropulsion units 108 and 110 of theUAV 100 are electrically connected to the PCB.

对所示的UAV的许多变化是可能的。例如，固定翼UAV可以包括更多或更少的旋翼(rotor)单元(垂直或水平)，和/或可以利用一个或多个导管风扇来推进。此外，具有更多机翼的UAV(例如，具有四个机翼的“x形机翼”配置)也是可能的。尽管图1示出了两个机翼102、两个吊杆104、两个水平推进单元108和每个吊杆104的六个垂直推进单元110，但是应当理解，UAV 100的其他变体可以用更多或更少的这些组件来实现。例如，UAV 100可以包括四个机翼102、四个吊杆104和更多或更少的推进单元(水平或垂直)。Many variations on the UAV shown are possible. For example, a fixed-wing UAV may include more or fewer rotor units (vertical or horizontal), and/or may utilize one or more ducted fans for propulsion. In addition, UAVs with more wings (eg, an "x-wing" configuration with four wings) are also possible. 1 shows twowings 102, twobooms 104, twohorizontal propulsion units 108, and sixvertical propulsion units 110 perboom 104, it should be understood that other variations ofUAV 100 may be used with more or less of these components to achieve. For example,UAV 100 may include fourwings 102, fourbooms 104, and more or fewer propulsion units (horizontal or vertical).

对所示的固定翼UAV的许多变化是可能的。例如，固定翼UAV可以包括更多或更少的螺旋桨，和/或可以利用一个或多个导管风扇来推进。此外，具有更多机翼(例如，具有四个机翼的“x形机翼”配置)、具有更少机翼或者甚至没有机翼的UAV也是可能的。Many variations on the fixed wing UAV shown are possible. For example, a fixed-wing UAV may include more or fewer propellers, and/or may utilize one or more ducted fans for propulsion. Additionally, UAVs with more wings (eg, an "x-wing" configuration with four wings), fewer wings, or even no wings are also possible.

应当理解，本文提到的“无人”飞行器或UAV同样适用于自主和半自主飞行器。在自主实施方式中，飞行器的所有功能都是自动化的；例如经由响应来自各种传感器的输入和/或预定信息的实时计算机功能来预编程或控制。在半自主实施方式中，飞行器的一些功能可以由人类操作员控制，而其他功能自主执行。此外，在一些实施例中，UAV可以被配置为允许远程操作员接管原本可以由UAV自主控制的功能。此外，给定类型的功能可以在一个抽象水平被远程控制，并且在另一种抽象水平被自主执行。例如，远程操作员可以控制UAV的高水平导航决策，诸如通过指定UAV应该从一个位置行进到另一个位置(例如，从郊区的仓库到附近城市的递送地址)，而UAV的导航系统自主地控制更细粒度的导航决策，诸如在两个位置之间采取的具体路线、实现该路线并在导航该路线时避开障碍物的具体飞行控制等。It should be understood that references herein to "unmanned" aerial vehicles or UAVs apply equally to autonomous and semi-autonomous vehicles. In autonomous embodiments, all functions of the aircraft are automated; eg, pre-programmed or controlled via real-time computer functions responsive to inputs from various sensors and/or predetermined information. In semi-autonomous implementations, some functions of the aircraft may be controlled by a human operator, while other functions are performed autonomously. Additionally, in some embodiments, the UAV may be configured to allow a remote operator to take over functions that would otherwise be autonomously controlled by the UAV. Furthermore, functions of a given type can be remotely controlled at one level of abstraction and executed autonomously at another level of abstraction. For example, a remote operator can control the UAV's high-level navigation decisions, such as by specifying that the UAV should travel from one location to another (eg, from a warehouse in a suburb to a delivery address in a nearby city), while the UAV's navigation system autonomously controls More fine-grained navigation decisions, such as a specific route to take between two locations, specific flight controls to implement that route and avoid obstacles while navigating that route.

更一般地，应该理解，本文描述的示例UAV不旨在是限制性的。示例实施例可以涉及任何类型的无人飞行器、在任何类型的无人飞行器内实现或者采取任何类型的无人飞行器的形式。More generally, it should be understood that the example UAVs described herein are not intended to be limiting. Example embodiments may relate to, be implemented within, or take the form of any type of unmanned aerial vehicle.

III.示例性UAV组件III. Exemplary UAV Components

图2是示出根据示例实施例的UAV 200的组件的简化框图。UAV 200可以采取参照图1A-图1E描述的UAV 100、120、140、160和180中的一个的形式，或者在形式上类似于该UAV。然而，UAV 200也可以采取其他形式。FIG. 2 is a simplified block diagram illustrating components ofUAV 200 according to an example embodiment.UAV 200 may take the form of one ofUAVs 100, 120, 140, 160, and 180 described with reference to Figures 1A-1E, or be similar in form to the UAV. However,UAV 200 may take other forms as well.

UAV 200可以包括各种类型的传感器，并且可以包括被配置为提供本文描述的功能的计算系统。在所示的实施例中，UAV 200的传感器包括惯性测量单元(IMU)202、超声波传感器204和GPS 206，其他可能的传感器和感测系统等。在示例中，UAV 200也可以包括激光测距仪(未示出)。UAV 200的其他配置是可能的。UAV 200 may include various types of sensors and may include a computing system configured to provide the functionality described herein. In the illustrated embodiment, the sensors of theUAV 200 include an inertial measurement unit (IMU) 202, an ultrasonic sensor 204, and a GPS 206, other possible sensors and sensing systems, and the like. In an example,UAV 200 may also include a laser rangefinder (not shown). Other configurations ofUAV 200 are possible.

在所示实施例中，UAV 200还包括一个或多个处理器208。处理器208可以是通用处理器或专用处理器(例如，数字信号处理器、专用集成电路等)。一个或多个处理器208可以被配置为执行计算机可读程序指令212，该计算机可读程序指令212被存储在数据存储210中并且可被执行以提供本文描述的UAV的功能。In the illustrated embodiment,UAV 200 also includes one or more processors 208 . The processor 208 may be a general purpose processor or a special purpose processor (eg, a digital signal processor, an application specific integrated circuit, etc.). The one or more processors 208 may be configured to execute computer readable program instructions 212 stored in the data store 210 and executable to provide the functionality of the UAV described herein.

数据存储210可以包括可以由至少一个处理器208读取或访问的一个或多个计算机可读存储介质或采取该一个或多个计算机可读存储介质的形式。一个或多个计算机可读存储介质可以包括易失性和/或非易失性存储组件，诸如光、磁、有机或其他存储器或盘存储，其可以整体或部分地与一个或多个处理器208中的至少一个处理器集成。在一些实施例中，数据存储210可以使用单个物理设备(例如，一个光、磁、有机或其他存储器或盘存储单元)来实现，而在其他实施例中，数据存储210可以使用两个或更多个物理设备来实现。Data store 210 may include or take the form of one or more computer-readable storage media that can be read or accessed by at least one processor 208 . One or more computer-readable storage media may include volatile and/or non-volatile storage components, such as optical, magnetic, organic or other memory or disk storage, which may be associated in whole or in part with one or more processors At least one processor in 208 is integrated. In some embodiments, data storage 210 may be implemented using a single physical device (eg, one optical, magnetic, organic, or other memory or disk storage unit), while in other embodiments, data storage 210 may be implemented using two or more multiple physical devices.

如上所述，数据存储210可以包括计算机可读程序指令212和可能的附加数据，诸如UAV 200的诊断数据。这样，数据存储210可以包括程序指令212，以执行或促进本文描述的UAV功能中的一些或全部。例如，在所示实施例中，程序指令212包括导航模块214和系绳控制模块216。As noted above, data store 210 may include computer readable program instructions 212 and possibly additional data, such as diagnostic data forUAV 200 . As such, data store 210 may include program instructions 212 to perform or facilitate some or all of the UAV functions described herein. For example, in the illustrated embodiment, program instructions 212 include a navigation module 214 and a tether control module 216 .

A.传感器A. Sensor

在说明性实施例中，IMU 202可以包括加速度计和陀螺仪两者，它们可以一起使用来确定UAV 200的朝向。具体地，加速度计可以测量载具相对于地球的朝向，而陀螺仪则测量围绕轴线旋转的速率。IMU以低成本、低功耗封装而商用。例如，IMU 202可以采取小型化微机电系统(MEMS)或纳米机电系统(NEMS)的形式或包括它们。也可以利用其他类型的IMU。In an illustrative embodiment,IMU 202 may include both an accelerometer and a gyroscope, which may be used together to determine the orientation ofUAV 200 . Specifically, accelerometers measure the vehicle's orientation relative to the Earth, while gyroscopes measure the rate of rotation around an axis. IMUs are commercially available in low-cost, low-power packages. For example,IMU 202 may take the form of or include miniaturized microelectromechanical systems (MEMS) or nanoelectromechanical systems (NEMS). Other types of IMUs may also be utilized.

除了加速计和陀螺仪之外，IMU 202可以包括其他传感器，这可以帮助更好地确定位置和/或帮助增加UAV 200的自主性。这样的传感器的两个示例是磁力计和压力传感器。在一些实施例中，UAV可包括低功率、数字3轴线磁力计，其可用于实现用于准确航向信息的朝向独立电子罗盘。然而，也可以使用其他类型的磁力计。其他示例也是可能的。此外，注意，UAV可以包括上述惯性传感器中的一些或全部，作为与IMU分开的构件。In addition to accelerometers and gyroscopes,IMU 202 may include other sensors, which may help to better determine position and/or help increase the autonomy ofUAV 200 . Two examples of such sensors are magnetometers and pressure sensors. In some embodiments, the UAV may include a low-power, digital 3-axis magnetometer, which may be used to implement an orientation-independent electronic compass for accurate heading information. However, other types of magnetometers can also be used. Other examples are also possible. Also, note that the UAV may include some or all of the inertial sensors described above as a separate component from the IMU.

UAV 200还可以包括压力传感器或气压计，其可以用于确定UAV 200的海拔。替代地，诸如声波高度计或雷达高度计的其他传感器可以用于提供海拔指示，这可以有助于提高IMU的准确度和/或防止IMU的漂移。TheUAV 200 may also include a pressure sensor or barometer, which may be used to determine the altitude of theUAV 200 . Alternatively, other sensors such as sonic altimeters or radar altimeters can be used to provide an altitude indication, which can help improve the accuracy of the IMU and/or prevent drift of the IMU.

在另一方面，UAV 200可以包括一个或多个传感器，其允许UAV感测环境中的对象。例如，在示出的实施例中，UAV 200包括超声波传感器204。超声波传感器204可以通过生成声波并确定声波发射和接收对象的对应的回声之间的时间间隔来确定到对象的距离。无人载具的超声波传感器或IMU的典型应用是低水平海拔控制和避障。超声波传感器也可以用于需要悬停在一定高度或需要能够检测障碍物的载具。可以使用其他系统(诸如光探测和测距(LIDAR)系统、激光探测和测距(LADAR)系统和/或红外或前视红外(FLIR)系统等)来确定、感测附近对象的存在和/或确定到附近对象的距离。In another aspect,UAV 200 may include one or more sensors that allow the UAV to sense objects in the environment. For example, in the illustrated embodiment,UAV 200 includes ultrasonic sensor 204 . The ultrasonic sensor 204 may determine the distance to the object by generating sound waves and determining the time interval between the emission of the sound waves and the reception of the corresponding echoes of the object. Typical applications for ultrasonic sensors or IMUs for unmanned vehicles are low-level altitude control and obstacle avoidance. Ultrasonic sensors can also be used for vehicles that need to hover at a certain height or need to be able to detect obstacles. Other systems, such as light detection and ranging (LIDAR) systems, laser detection and ranging (LADAR) systems, and/or infrared or forward looking infrared (FLIR) systems, etc. may be used to determine, sense the presence and/or of nearby objects Or determine the distance to nearby objects.

在一些实施例中，UAV 200还可以包括一个或多个成像系统。例如，UAV200可以利用一个或多个静态和/或视频相机来从UAV的环境中捕捉图像数据。作为具体的示例，电荷耦合设备(CCD)相机或互补金属氧化物半导体(CMOS)相机可以用于无人载具。这样的成像传感器具有许多可能的应用，诸如避障、定位技术、用于更准确导航的地面跟踪(例如，通过将光流技术应用于图像)、视频反馈和/或图像识别和处理等。In some embodiments,UAV 200 may also include one or more imaging systems. For example,UAV 200 may utilize one or more still and/or video cameras to capture image data from the environment of the UAV. As specific examples, a Charge Coupled Device (CCD) camera or a Complementary Metal Oxide Semiconductor (CMOS) camera may be used for unmanned vehicles. Such imaging sensors have many possible applications, such as obstacle avoidance, localization techniques, ground tracking for more accurate navigation (eg, by applying optical flow techniques to images), video feedback, and/or image recognition and processing, among others.

UAV 200还可以包括GPS接收器206。GPS接收器206可以被配置为提供众所周知的GPS系统的典型数据，诸如UAV 200的GPS坐标。这样的GPS数据可以被UAV 200用于各种功能。这样，UAV可以使用其GPS接收器206来帮助如至少部分地由呼叫者的移动设备提供的GPS坐标所指示地导航到呼叫者的位置。其他示例也是可能的。UAV 200 may also include GPS receiver 206 . The GPS receiver 206 may be configured to provide data typical of well-known GPS systems, such as the GPS coordinates of theUAV 200 . Such GPS data can be used byUAV 200 for various functions. In this way, the UAV can use its GPS receiver 206 to assist in navigating to the caller's location as indicated at least in part by GPS coordinates provided by the caller's mobile device. Other examples are also possible.

B.导航和位置确定B. Navigation and Location Determination

导航模块214可以提供允许UAV 200例如在其环境周围移动并到达期望位置的功能。为此，导航模块214可以通过控制影响飞行的UAV的机械特征(例如，它的方向舵、升降舵、副翼和/或它的螺旋桨速度)来控制飞行的海拔和/或方向。Navigation module 214 may provide functionality that allowsUAV 200 to, for example, move around its environment and reach a desired location. To this end, the navigation module 214 may control the altitude and/or direction of flight by controlling mechanical characteristics of the UAV that affect flight (eg, its rudder, elevator, ailerons, and/or its propeller speed).

为了将UAV 200导航到目标位置，导航模块214可以实现各种导航技术，例如，像基于地图的导航和基于定位的导航。利用基于地图的导航，UAV 200可以被提供其环境的地图，该地图然后可以被用于导航到地图上的特定位置。利用基于定位的导航，UAV 200可以能够使用定位在未知环境中导航。基于定位的导航可以涉及UAV 200构建其自身的其环境的地图，并计算其在地图内的位置和/或环境中对象的位置。例如，当UAV 200穿过其环境中移动时，UAV 200可以持续使用定位来更新其环境地图。这个持续的绘制地图过程可以被称为同时定位和绘制地图(SLAM)。也可以利用其他导航技术。To navigate theUAV 200 to a target location, the navigation module 214 may implement various navigation techniques, such as, for example, map-based navigation and location-based navigation. With map-based navigation, theUAV 200 can be provided with a map of its environment, which can then be used to navigate to a specific location on the map. With location-based navigation, theUAV 200 may be able to navigate in an unknown environment using location. Position-based navigation may involve theUAV 200 constructing its own map of its environment and calculating its location within the map and/or the location of objects in the environment. For example, as theUAV 200 moves through its environment, theUAV 200 may continuously use the positioning to update its map of the environment. This continuous mapping process may be referred to as simultaneous localization and mapping (SLAM). Other navigation techniques may also be utilized.

在一些实施例中，导航模块214可以使用依赖于航路点的技术来导航。具体来说，航路点是标识物理空间中的点的坐标集合。例如，空中导航航路点可以由一定纬度、经度和海拔来定义。因此，导航模块214可以使UAV 200从航路点移动到航路点，以便最终行进到最终目的地(例如，航路点序列中的最终航路点)。In some embodiments, the navigation module 214 may navigate using a waypoint-dependent technique. Specifically, a waypoint is a collection of coordinates that identifies a point in physical space. For example, an air navigation waypoint may be defined by a certain latitude, longitude, and altitude. Accordingly, the navigation module 214 may move theUAV 200 from waypoint to waypoint for eventual travel to a final destination (eg, the final waypoint in a sequence of waypoints).

在另一方面，导航模块214和/或UAV 200的其他组件和系统可以被配置用于“定位”以更精确地导航到目标位置的场景。更具体地，在某些情景下，可能期望UAV在UAV正在递送有效载荷228的目标位置的阈值距离内(例如，在目标目的地的几英尺内)。为此，UAV可以使用两级方法，其中它使用更通用的位置确定技术来导航到与目标位置相关联的大致(general)区域，然后使用更精确的位置确定技术来识别和/或导航到大致区域内的目标位置。In another aspect, the navigation module 214 and/or other components and systems of theUAV 200 may be configured to "locate" to more precisely navigate to the scene of the target location. More specifically, in certain scenarios, it may be desirable for the UAV to be within a threshold distance (eg, within a few feet of the target destination) of the target location where the UAV is delivering payload 228 . To this end, the UAV may use a two-stage approach, in which it uses more general location determination techniques to navigate to a general area associated with the target location, and then uses more precise location determination techniques to identify and/or navigate to the general area target location within the area.

例如，UAV 200可以使用航路点和/或基于地图的导航来导航到目标目的地的大致区域，其中，有效载荷228被递送到目标目的地。UAV然后可以切换到UAV利用定位过程来定位并行进到更具体的位置的模式。例如，如果UAV 200要将有效载荷递送到用户家中，则UAV200可能需要基本上靠近目标位置，以避免将有效载荷递送到不期望的区域(例如，屋顶上、水池中、邻居的财产上等)。然而，GPS信号可能仅使UAV 200到达那么远(例如，在用户家的街区内)。然后可以使用更精确的位置确定技术来找到具体的目标位置。For example, theUAV 200 may use waypoints and/or map-based navigation to navigate to the general area of the target destination where the payload 228 is delivered. The UAV can then switch to a mode in which the UAV utilizes the positioning process to locate and travel to a more specific location. For example, if theUAV 200 is to deliver a payload to a user's home, theUAV 200 may need to be substantially close to the target location to avoid delivering the payload to undesired areas (eg, on a roof, in a pool, on a neighbor's property, etc.) . However, GPS signals may only getUAV 200 that far (eg, within a block of the user's home). More precise location determination techniques can then be used to find specific target locations.

一旦UAV 200已经导航到目标递送位置的大致区域，就可以使用各种类型的位置确定技术来实现目标递送位置的定位。例如，UAV 200可以装备有诸如像超声波传感器204、红外传感器(未示出)和/或其他传感器的一个或多个传感系统，其可以提供导航模块214用来自主或半自主地导航到具体目标位置的输入。Once theUAV 200 has navigated to the approximate area of the target delivery location, various types of location determination techniques can be used to achieve the location of the target delivery location. For example,UAV 200 may be equipped with one or more sensing systems, such as ultrasonic sensors 204, infrared sensors (not shown), and/or other sensors, which may provide navigation module 214 for autonomous or semi-autonomous navigation to specific Input of the target location.

作为另一个示例，一旦UAV 200到达目标递送位置(或诸如人或他们的移动设备的移动主体)的大致区域，UAV 200可以切换到“电传操纵(fly-by-wire)”模式，在该模式下，它至少部分地由远程操作员控制，该操作员可以将UAV 200导航到具体目标位置。为此，来自UAV 200的传感数据可以被发送给远程操作员，以帮助他们将UAV 200导航到具体位置。As another example, once theUAV 200 reaches the approximate area of the target delivery location (or a moving subject such as a person or their mobile device), theUAV 200 may switch to a "fly-by-wire" mode, where In mode, it is at least partially controlled by a remote operator who can navigate theUAV 200 to a specific target location. To this end, sensory data from theUAV 200 can be sent to a remote operator to help them navigate theUAV 200 to a specific location.

作为又一个示例，UAV 200可以包括能够向路人发信号以帮助到达具体目标递送位置的模块；例如，UAV 200可以在图形显示器中显示请求这样的帮助的视觉消息，通过扬声器播放音频消息或音调来指示需要这样的帮助等。这样的视觉或音频消息可以指示在将UAV 200递送给特定的人或特定的位置时需要帮助，并且可以提供信息来帮助路人将UAV200递送给人或位置(例如，人或位置的描述或图片，和/或人或位置的名称)等。在UAV不能够使用传感功能或其他位置确定技术来到达具体目标位置的情景下，这样的特征可能是有用的。然而，该特征不限于这样的情景。As yet another example,UAV 200 may include a module capable of signaling passersby to assist in reaching a specific target delivery location; for example,UAV 200 may display a visual message in a graphical display requesting such assistance, play an audio message or tone through a speaker Indicate the need for such help etc. Such visual or audio messages may indicate that assistance is needed in delivering theUAV 200 to a specific person or a specific location, and may provide information to assist passersby in delivering theUAV 200 to the person or location (eg, a description or picture of the person or location, and/or name of person or location) etc. Such a feature may be useful in scenarios where the UAV is unable to use sensing capabilities or other location determination techniques to reach a specific target location. However, this feature is not limited to such a scenario.

在一些实施例中，一旦UAV 200到达目标递送位置的大致区域，UAV 200可以利用来自用户的远程设备(例如，用户的移动电话)的信标(beacon)来定位该人。这样的信标可以采取各种形式。作为示例，考虑这样的情景，其中诸如请求UAV递送的人的移动电话的远程设备能够发送出方向信号(例如，经由RF信号、光信号和/或音频信号)。在这种情景下，UAV 200可以被配置为通过“寻源(sourcing)”这样的方向信号来导航，换句话说，通过确定哪里的信号最强并相应地导航。作为另一个示例，移动设备可以发射人类范围内或人类范围外的频率，并且UAV 200可以监听该频率并相应地导航。作为相关的示例，如果UAV 200正在监听口头命令，那么UAV 200可以利用诸如“我在这！”的口头陈述来寻源请求递送有效载荷的人的具体位置。In some embodiments, once theUAV 200 reaches the approximate area of the target delivery location, theUAV 200 may utilize a beacon from the user's remote device (eg, the user's mobile phone) to locate the person. Such beacons can take various forms. As an example, consider a scenario in which a remote device, such as a mobile phone of a person requesting UAV delivery, can send out a directional signal (eg, via an RF signal, an optical signal, and/or an audio signal). In this scenario, theUAV 200 may be configured to navigate by "sourcing" such a directional signal, in other words, by determining where the signal is strongest and navigating accordingly. As another example, a mobile device may transmit frequencies in or out of human range, and theUAV 200 may listen to that frequency and navigate accordingly. As a related example, if theUAV 200 is listening for a spoken command, theUAV 200 may utilize a spoken statement such as "I'm here!" to source the specific location of the person requesting the delivery of the payload.

在可替代布置中，导航模块可以在远程计算设备处实现，该远程计算设备与UAV200无线地通信。远程计算设备可以接收指示UAV 200的操作状态的数据、来自UAV 200的允许其评估UAV 200所经历的环境条件的传感器数据和/或UAV 200的位置信息。被提供了这样的信息，远程计算设备可以确定UAV 200应该进行的海拔和/或方向调整，和/或可以确定UAV 200应该如何调整其机械特征(例如，其方向舵、升降舵、副翼和/或其螺旋桨的速度)，以便实现这样的移动。远程计算系统然后可以将这样的调整通信给UAV 200，因此它可以以确定的方式移动。In an alternative arrangement, the navigation module may be implemented at a remote computing device that communicates with theUAV 200 wirelessly. The remote computing device may receive data indicative of the operational state of theUAV 200, sensor data from theUAV 200 that allows it to assess the environmental conditions experienced by theUAV 200, and/or location information of theUAV 200. Provided with such information, the remote computing device can determine the altitude and/or headingadjustments UAV 200 should make, and/or can determine howUAV 200 should adjust its mechanical characteristics (eg, its rudder, elevator, aileron, and/or the speed of its propellers) in order to achieve this movement. The remote computing system can then communicate such adjustments toUAV 200 so it can move in a deterministic manner.

C.通信系统c. Communication system

在另一方面，UAV 200包括一个或多个通信系统218。通信系统218可以包括一个或多个无线接口和/或一个或多个有线接口，这允许UAV 200经由一个或多个网络进行通信。这样的无线接口可以在一个或多个无线通信协议(诸如蓝牙、WiFi(例如，IEEE 802.11协议)、长期演进(LTE)、WiMAX(例如，IEEE 802.16标准)、射频ID(RFID)协议、近场通信(NFC)和/或其他无线通信协议)下提供通信。这样的有线接口可以包括以太网接口、通用串行总线(USB)接口或类似的接口，以经由导线、双绞线、同轴电缆、光链路、光纤链路或其他到有线网络的物理连接进行通信。In another aspect,UAV 200 includes one or more communication systems 218 . Communication system 218 may include one or more wireless interfaces and/or one or more wired interfaces, which allowUAV 200 to communicate via one or more networks. Such a wireless interface can be implemented in one or more wireless communication protocols such as Bluetooth, WiFi (eg, IEEE 802.11 protocol), Long Term Evolution (LTE), WiMAX (eg, IEEE 802.16 standard), Radio Frequency ID (RFID) protocol, Near Field communication (NFC) and/or other wireless communication protocols). Such wired interfaces may include Ethernet interfaces, Universal Serial Bus (USB) interfaces, or similar interfaces for physical connection to wired networks via wire, twisted pair, coaxial cable, optical link, fiber optic link, or other to communicate.

在一些实施例中，UAV 200可以包括允许短程通信和远程通信两者的通信系统218。例如，UAV 200可以被配置用于使用蓝牙的短程通信和CDMA协议下的远程通信。在这样的实施例中，UAV 200可以被配置为用作“热点”；或者换句话说，作为远程支持设备和一个或多个数据网络(诸如蜂窝网络和/或互联网)之间的网关或代理。这样地配置，UAV 200可以促进远程支持设备原本不能自身执行的数据通信。In some embodiments,UAV 200 may include a communication system 218 that allows both short-range and long-range communications. For example,UAV 200 may be configured for short-range communication using Bluetooth and long-range communication under the CDMA protocol. In such an embodiment, theUAV 200 may be configured to function as a "hotspot"; or in other words, as a gateway or proxy between the remote support device and one or more data networks, such as cellular and/or the Internet . Configured in this way, theUAV 200 can facilitate data communications that the remote support device would not otherwise be able to perform by itself.

例如，UAV 200可以提供到远程设备的WiFi连接，并且用作到蜂窝服务提供商的数据网络的代理或网关，UAV可以在例如LTE或3G协议下连接到该数据网络。UAV 200还可以用作远程设备可能无法以其他方式访问的高海拔气球网络、卫星网络或这些网络的组合等的代理或网关。For example,UAV 200 may provide WiFi connectivity to remote devices and act as a proxy or gateway to a cellular service provider's data network to which the UAV may connect under protocols such as LTE or 3G.UAV 200 can also be used as a proxy or gateway for high altitude balloon networks, satellite networks, or a combination of these networks, etc., that remote devices may not otherwise have access to.

D.电力系统D. Power system

在另一方面，UAV 200可以包括电力系统220。电力系统220可以包括一个或多个电池，用于向UAV 200提供电力。在一个示例中，一个或多个电池可以是可充电的，并且每个电池可以经由电池和电力供应之间的有线连接和/或经由无线充电系统(诸如将外部时变磁场施加到内部电池的感应充电系统)来充电。In another aspect,UAV 200 may includepower system 220 .Power system 220 may include one or more batteries for providing power toUAV 200 . In one example, one or more of the batteries may be rechargeable, and each battery may be via a wired connection between the battery and the power supply and/or via a wireless charging system such as one that applies an external time-varying magnetic field to the internal battery inductive charging system) to charge.

E.有效载荷递送E. Payload Delivery

UAV 200可以采用各种系统和配置以便运输和递送有效载荷228。在一些实施方式中，给定UAV 200的有效载荷228可以包括被设计成将各种货物运输到目标递送位置的“包裹”或采取被设计成将各种货物运输到目标递送位置的“包裹”的形式。例如，UAV 200可以包括舱，其中可以运输一个或多个物品。这样的包裹可以是一个或多个食物物品、购买的货物、医疗物品或具有适合由UAV在两个位置之间运输的尺寸和重量的任何其他对象。在其他实施例中，有效载荷228可以简单地是正在递送的一个或多个物品(例如，没有容纳物品的任何包裹)。UAV 200 may employ various systems and configurations for transporting and delivering payload 228 . In some embodiments, the payload 228 of a givenUAV 200 may include or take "packages" designed to transport various goods to a target delivery location form. For example,UAV 200 may include a bay in which one or more items may be transported. Such a package may be one or more food items, purchased goods, medical items, or any other object of a size and weight suitable for transport by the UAV between two locations. In other embodiments, the payload 228 may simply be the item or items being delivered (eg, any package that does not contain the item).

在一些实施例中，有效载荷228可以附接到UAV，并且在UAV的飞行期间的部分或全部基本上位于UAV的外部。例如，在飞行至目标位置的期间，包裹可以被系绳或以其他方式可释放地附接在UAV下方。在包裹在UAV下方携带货物的实施例中，包裹可以包括各种特征，这些特征保护其内容物免受环境影响，减少系统上的空气动力阻力，并防止包裹的内容物在UAV飞行期间移位。In some embodiments, the payload 228 may be attached to the UAV and be located substantially external to the UAV during some or all of the flight of the UAV. For example, the package may be tethered or otherwise releasably attached below the UAV during flight to the target location. In embodiments where the package carries cargo beneath the UAV, the package may include various features that protect its contents from the environment, reduce aerodynamic drag on the system, and prevent the contents of the package from shifting during UAV flight .

例如，当有效载荷228采取用于运输物品的包裹的形式时，该包裹可以包括由防水纸板、塑料或任何其他轻质防水材料构成的外壳。此外，为了减少阻力，包裹可以特征在于光滑的表面，该表面具有减少前面横截面积的尖的前面。此外，包裹的侧面可以从宽的底部到窄的顶部逐渐变细，这允许包裹用作窄的吊架(pylon)，减少对UAV的机翼的干扰影响。这可能移动包裹的一些前面区域和体积远离UAV的机翼，从而防止由包裹引起的机翼上的升力的减小。此外，在一些实施例中，包裹的外壳可以由单片材料构成，以便减少空气间隙或附加的材料，这两者都会增加系统的阻力。附加地或替代地，包裹可以包括稳定器以抑制包裹颤动。这种颤动的减少可以允许包裹与UAV具有较低刚性的连接，并且可以使得包裹的内容物在飞行过程中较少移位。For example, when the payload 228 takes the form of a package for transporting items, the package may include an outer shell constructed of waterproof cardboard, plastic, or any other lightweight waterproof material. Additionally, to reduce drag, the wrap may feature a smooth surface with a pointed front that reduces the cross-sectional area of the front. In addition, the sides of the package can taper from a wide bottom to a narrow top, which allows the package to function as a narrow pylon, reducing disturbing effects on the UAV's wings. This may move some of the forward area and volume of the package away from the UAV's wings, preventing the reduction in lift on the wing caused by the package. Additionally, in some embodiments, the wrapping shell may be constructed from a single piece of material in order to reduce air gaps or additional material, both of which increase the resistance of the system. Additionally or alternatively, the wrap may include stabilizers to dampen wrap vibration. This reduction in flutter may allow for a less rigid connection of the package to the UAV, and may result in less displacement of the package's contents during flight.

为了递送有效载荷，UAV可以包括由系绳控制模块216控制的绞盘系统221，以便在UAV悬停在上方时将有效载荷228降低到地面。如图2所示，绞盘系统221可以包括系绳224，并且系绳224可以通过有效载荷耦合装置226耦合到有效载荷228。系绳224可以缠绕在线轴上，该线轴耦合到UAV的马达222。马达222可以采取DC马达(例如伺服马达)的形式，其可以由速度控制器主动控制。系绳控制模块216可以控制速度控制器，以使马达222旋转线轴，从而解开或收回系绳224，并降低或升高有效载荷耦合装置226。在实践中，速度控制器可以输出线轴的期望操作速率(例如，期望RPM)，该期望操作速率可以对应于系绳224和有效载荷228应该朝向地面下降的速度。马达222然后可以旋转线轴，使得它保持期望的操作速率。To deliver the payload, the UAV may include a winch system 221 controlled by the tether control module 216 to lower the payload 228 to the ground when the UAV hovers above. As shown in FIG. 2 , the winch system 221 may include a tether 224 , and the tether 224 may be coupled to a payload 228 by a payload coupling device 226 . The tether 224 may be wound on a spool that is coupled to the motor 222 of the UAV. Motor 222 may take the form of a DC motor (eg, a servo motor), which may be actively controlled by a speed controller. The tether control module 216 may control the speed controller to cause the motor 222 to rotate the spool to unwind or retract the tether 224 and lower or raise the payload coupling 226 . In practice, the speed controller may output a desired operating rate (eg, desired RPM) of the spool, which may correspond to the speed at which the tether 224 and payload 228 should be lowered toward the ground. The motor 222 can then rotate the spool so that it maintains the desired operating rate.

为了经由速度控制器控制马达222，系绳控制模块216可以从速度传感器(例如，编码器)接收数据，该速度传感器被配置为将机械位置转换成代表性的模拟或数字信号。特别地，速度传感器可以包括旋转编码器，该旋转编码器可以提供与马达的轴或耦合到马达的线轴的旋转位置(和/或旋转移动)等相关的信息。此外，速度传感器可以采用绝对编码器和/或增量编码器等形式。因此，在示例实施方式中，当马达222导致线轴旋转时，旋转编码器可以用于测量该旋转。在这样做时，旋转编码器可以用于将旋转位置转换成模拟或数字电子信号，该信号由系绳控制模块216使用，以确定线轴从固定参考角度的旋转量，和/或转换成代表新旋转位置的模拟或数字电子信号等。其他示例也是可能的。To control the motor 222 via the speed controller, the tether control module 216 may receive data from a speed sensor (eg, an encoder) configured to convert the mechanical position into a representative analog or digital signal. In particular, the speed sensor may include a rotary encoder, which may provide information related to the rotational position (and/or rotational movement) of the motor's shaft or spool coupled to the motor, and the like. Additionally, the speed sensor may take the form of an absolute encoder and/or an incremental encoder, among others. Thus, in an example embodiment, when the motor 222 causes the spool to rotate, a rotary encoder may be used to measure the rotation. In doing so, a rotary encoder may be used to convert the rotational position into an analog or digital electronic signal that is used by the tether control module 216 to determine the amount of rotation of the spool from a fixed reference angle, and/or to represent a new Analog or digital electronic signal of rotational position, etc. Other examples are also possible.

基于来自速度传感器的数据，系绳控制模块216可以确定马达222和/或线轴的旋转速度，并响应地控制马达222(例如，通过增加或减少供应给马达222的电流)以使马达222的旋转速度匹配期望的速度。当调整马达电流时，电流调整的幅度可以基于使用马达222的确定和期望速度的比例-积分-微分(PID)计算。例如，当前调整的幅度可以基于线轴的确定速度和期望速度之间的当前差异、过去差异(基于随时间累积的误差)和未来差异(基于当前的改变率)。Based on the data from the speed sensor, the tether control module 216 can determine the rotational speed of the motor 222 and/or spool, and responsively control the motor 222 (eg, by increasing or decreasing the current supplied to the motor 222 ) to rotate the motor 222 The speed matches the desired speed. When adjusting the motor current, the magnitude of the current adjustment may be calculated based on the proportional-integral-derivative (PID) calculation using the determination of the motor 222 and the desired speed. For example, the magnitude of the current adjustment may be based on the current difference between the determined and desired speed of the spool, the past difference (based on accumulated error over time), and the future difference (based on the current rate of change).

在一些实施例中，系绳控制模块216可以变化系绳224和有效载荷228降低到地面的速率。例如，速度控制器可以根据可变展开(development)速率曲线和/或响应于其他因素来改变期望的操作速率，以便改变有效载荷228向地面下降的速率。为此，系绳控制模块216可以调整施加到系绳224的制动量或摩擦量。例如，为了变化系绳展开速率，UAV 200可以包括摩擦垫，该摩擦垫可以向系绳224施加可变的压力量。作为另一个示例，UAV 200可以包括机动制动系统，其变化线轴放出系绳224的速率。这样的制动系统可以采取机电系统的形式，其中马达222操作以减慢线轴放出系绳224的速率。此外，马达222可以变化其调整线轴速度(例如，RPM)的量，从而可以变化系绳224的展开速率。其他示例也是可能的。In some embodiments, the tether control module 216 may vary the rate at which the tether 224 and payload 228 are lowered to the ground. For example, the speed controller may vary the desired operating rate according to a variable development rate profile and/or in response to other factors in order to vary the rate at which the payload 228 is lowered toward the ground. To this end, the tether control module 216 may adjust the amount of braking or friction applied to the tether 224 . For example, to vary the rate of tether deployment,UAV 200 can include friction pads that can apply a variable amount of pressure to tether 224. As another example, theUAV 200 may include a motorized braking system that varies the rate at which the spool pays out the tether 224 . Such a braking system may take the form of an electromechanical system in which the motor 222 operates to slow the rate at which the spool pays out the tether 224 . In addition, the motor 222 can vary the amount by which it adjusts the spool speed (eg, RPM), which in turn can vary the rate at which the tether 224 is deployed. Other examples are also possible.

在一些实施例中，系绳控制模块216可以被配置为将供应给马达222的马达电流限制到最大值。利用对马达电流强加的这样的限制，可能存在马达222不能以速度控制器指定的期望操作来操作的情形。例如，如下面更详细讨论的，可能存在速度控制器指定马达222应该朝UAV 200收回系绳224的期望操作速率，但是马达电流可能被限制，使得系绳224上足够大的向下的力将抵消马达222的收回力，并导致系绳224反而解开的情形。如下面进一步讨论的，取决于UAV 200的操作状态，可以对马达电流施加和/或改变限制。In some embodiments, the tether control module 216 may be configured to limit the motor current supplied to the motor 222 to a maximum value. With such limitations imposed on motor current, there may be situations where the motor 222 cannot operate at the desired operation specified by the speed controller. For example, as discussed in more detail below, there may be a speed controller specifying the desired operating rate at which the motor 222 should retract the tether 224 toward theUAV 200, but the motor current may be limited such that a sufficiently large downward force on the tether 224 will This counteracts the retraction force of the motor 222 and results in a situation where the tether 224 is instead unwound. As discussed further below, depending on the operating state of theUAV 200, limits may be applied and/or changed on the motor current.

在一些实施例中，系绳控制模块216可以被配置为基于供应给马达222的电流量来确定系绳224和/或有效载荷228的状态。例如，如果向下的力施加到系绳224(例如，如果有效载荷228附接到系绳224，或者如果系绳224在向UAV 200收回时被对象阻碍)，则系绳控制模块216可能需要增加马达电流，以便使马达222和/或线轴的确定的旋转速度匹配期望的速度。类似地，当向下的力从系绳224移除时(例如，在递送有效载荷228或移除系绳阻碍物时)，系绳控制模块216可能需要降低马达电流，以便使马达222和/或线轴的确定的旋转速度匹配期望的速度。这样，系绳控制模块216可以被配置为监视供应给马达222的电流。例如，系绳控制模块216可以基于从马达的电流传感器或电力系统220的电流传感器接收的传感器数据来确定马达电流。在任何情况下，基于供应给马达222的电流，确定有效载荷228是否附接到系绳224，是否某人或某物正在拉动系绳224，和/或在收回系绳224之后有效载荷耦合装置226是否压靠UAV 200。其他示例也是可能的。In some embodiments, tether control module 216 may be configured to determine the state of tether 224 and/or payload 228 based on the amount of current supplied to motor 222 . For example, if a downward force is applied to tether 224 (eg, if payload 228 is attached to tether 224, or if tether 224 is obstructed by an object when retracted toward UAV 200), tether control module 216 may require The motor current is increased to match the determined rotational speed of the motor 222 and/or spool to the desired speed. Similarly, when downward force is removed from tether 224 (eg, when delivering payload 228 or removing tether obstructions), tether control module 216 may need to reduce motor current in order to enable motor 222 and/or Or the determined rotational speed of the spool matches the desired speed. As such, the tether control module 216 may be configured to monitor the current supplied to the motor 222 . For example, the tether control module 216 may determine the motor current based on sensor data received from a current sensor of the motor or a current sensor of thepower system 220 . In any event, based on the current supplied to motor 222, it is determined whether payload 228 is attached to tether 224, whether someone or something is pulling tether 224, and/or the payload coupling device after tether 224 is retracted 226 is pressed against theUAV 200. Other examples are also possible.

在有效载荷228的递送期间，有效载荷耦合装置226可以被配置为在有效载荷228通过系绳224从UAV降低时固定有效载荷228，并且还可以被配置为在到达地面水平时释放有效载荷228。然后，通过使用马达222卷起系绳224，有效载荷耦合装置226可以收回到UAV。During delivery of the payload 228, the payload coupling 226 may be configured to secure the payload 228 as it is lowered from the UAV by the tether 224, and may also be configured to release the payload 228 upon reaching ground level. The payload coupling 226 can then be retracted to the UAV by using the motor 222 to wind up the tether 224.

在一些实施方式中，一旦有效载荷228被降低到地面，它可以被被动释放。例如，被动释放机构可以包括一个或多个适于收回到壳体内和从壳体延伸出的摆臂。延伸的摆臂可以形成钩，有效载荷228可以附接在该钩上。在经由系绳将释放机构和有效载荷228降低到地面时，重力以及释放机构上的向下惯性力可以导致有效载荷228从钩被拆卸，从而允许释放机构朝向UAV向上升起。释放机构还可以包括弹簧机构，当摆臂上没有其他外部力时，该弹簧机构偏压摆臂以收回到壳体内。例如，弹簧可以在摆臂上施加力，该力朝着壳体推动或拉动摆臂，使得一旦有效载荷228的重量不再迫使摆臂从壳体伸出，摆臂就收回到壳体中。当在递送有效载荷228时朝向UAV升起释放机构时，将摆臂收回到外壳中可以减少释放机构被有效载荷228或其他附近对象阻碍的可能性。In some embodiments, once the payload 228 is lowered to the ground, it can be passively released. For example, the passive release mechanism may include one or more swing arms adapted to retract into and extend from the housing. The extended swing arm may form a hook to which the payload 228 may be attached. Upon lowering the release mechanism and payload 228 to the ground via the tether, gravity and downward inertial forces on the release mechanism may cause the payload 228 to be detached from the hook, allowing the release mechanism to rise upward toward the UAV. The release mechanism may also include a spring mechanism that biases the swing arm to retract into the housing when there is no other external force on the swing arm. For example, a spring may exert a force on the swing arm that pushes or pulls the swing arm toward the housing such that it retracts into the housing once the weight of the payload 228 no longer forces the swing arm out of the housing. When the release mechanism is raised towards the UAV when the payload 228 is being delivered, retracting the swing arm into the housing can reduce the likelihood of the release mechanism being obstructed by the payload 228 or other nearby objects.

主动有效载荷释放机构也是可能的。例如，诸如基于气压的高度计和/或加速度计的传感器可以帮助检测释放机构(和有效载荷)相对于地面的位置。来自传感器的数据可以通过无线链路通信回UAV和/或控制系统，并用于帮助确定释放机构何时到达地面水平(例如，通过用加速度计检测作为地面冲击特性的测量)。在其他示例中，UAV可以基于重量传感器检测了系绳上的阈值低的向下力和/或基于降低有效载荷时绞盘汲取(draw)的电力的阈值低测量来确定有效载荷已经到达地面。Active payload release mechanisms are also possible. For example, sensors such as barometric-based altimeters and/or accelerometers can help detect the position of the release mechanism (and payload) relative to the ground. Data from the sensors can be communicated back to the UAV and/or the control system via a wireless link and used to help determine when the release mechanism has reached ground level (eg, by detection with an accelerometer as a measure of ground impact characteristics). In other examples, the UAV may determine that the payload has reached the ground based on a weight sensor detecting a threshold low downward force on the tether and/or based on a threshold low measurement of power drawn by the winch when the payload is lowered.

除了系绳递送系统之外或替代系绳递送系统，用于递送有效载荷的其他系统和技术也是可能的。例如，UAV 200可以包括气囊投放系统或降落伞投放系统。可替代地，携带有效载荷的UAV 200可以简单地降落在递送位置的地面上。其他示例也是可能的。Other systems and techniques for delivering payloads are possible in addition to or instead of tethered delivery systems. For example,UAV 200 may include an air bag delivery system or a parachute delivery system. Alternatively, theUAV 200 carrying the payload may simply land on the ground at the delivery location. Other examples are also possible.

IV.说明性UAV部署系统IV. Illustrative UAV Deployment System

可以实施UAV系统，以便提供各种UAV相关的服务。特别地，可以在多个不同的发射场提供UAV，这些发射场可以与区域和/或中央控制系统通信。这样的分布式UAV系统可以允许UAV被快速部署以跨大的地理区域提供服务(例如，比任何单个UAV的飞行范围大得多)。例如，能够携带有效载荷的UAV可以分布在跨越大的地理区域(甚至可能遍及整个国家，或者甚至全世界)的多个发射场，以便提供各种物品到遍及地理区域的位置的按需运输。图3是示出根据示例实施例的分布式UAV系统300的简化框图。UAV systems can be implemented to provide various UAV-related services. In particular, UAVs may be provided at a number of different launch sites, which may communicate with regional and/or central control systems. Such a distributed UAV system may allow UAVs to be rapidly deployed to provide service across large geographic areas (eg, much larger than the flight range of any single UAV). For example, UAVs capable of carrying payloads can be distributed at multiple launch sites across a large geographic area (perhaps even throughout an entire country, or even the world) in order to provide on-demand transportation of various items to locations throughout the geographic area. 3 is a simplified block diagram illustrating a distributed UAV system 300 according to an example embodiment.

在说明性UAV系统300中，访问系统302可以允许与UAV 304的网络交互、控制和/或利用UAV 304的网络。在一些实施例中，访问系统302可以是允许人类控制UAV 304的调度的计算系统。这样，控制系统可以包括或以其他方式提供用户接口，通过该用户接口，用户可以访问和/或控制UAV 304。In illustrative UAV system 300 , access system 302 may allow interaction with, control, and/or utilization of a network ofUAVs 304 . In some embodiments, the access system 302 may be a computing system that allows a human to control the scheduling of theUAV 304 . As such, the control system may include or otherwise provide a user interface through which a user may access and/or control theUAV 304 .

在一些实施例中，UAV 304的调度可以附加地或替代地经由一个或多个自动化过程来完成。例如，访问系统302可以调度UAV 304中的一个UAV将有效载荷运输到目标位置，并且UAV可以通过利用各种机载传感器(诸如GPS接收器和/或其他各种导航传感器)自主导航到目标位置。In some embodiments, scheduling ofUAV 304 may additionally or alternatively be accomplished via one or more automated processes. For example, access system 302 can dispatch one ofUAVs 304 to transport a payload to a target location, and the UAV can autonomously navigate to the target location by utilizing various onboard sensors, such as a GPS receiver and/or various other navigation sensors .

此外，访问系统302可以提供UAV的远程操作。例如，访问系统302可以允许操作员经由其用户接口控制UAV的飞行。作为具体的示例，操作员可以使用访问系统302将UAV 304调度到目标位置。UAV 304然后可以自主导航到目标位置的大致区域。在这一点上，操作者可以使用访问系统302来控制UAV 304并将UAV导航到目标位置(例如，到有效载荷被运输到的特定人)。UAV的远程操作的其他示例也是可能的。Additionally, the access system 302 may provide for remote operation of the UAV. For example, access system 302 may allow an operator to control the flight of the UAV via its user interface. As a specific example, an operator may use access system 302 to dispatchUAV 304 to a target location. TheUAV 304 can then autonomously navigate to the approximate area of the target location. At this point, the operator can use the access system 302 to control theUAV 304 and navigate the UAV to a target location (eg, to a specific person to whom the payload is being transported). Other examples of remote operation of UAVs are also possible.

在说明性实施例中，UAV 304可以采取各种形式。例如，UAV 304中的每个UAV可以是诸如图1A-图1E所示的UAV。然而，UAV系统300也可以利用其他类型的UAV，而不脱离本发明的范围。在一些实施方式中，所有UAV304可以具有相同或相似的配置。然而，在其他实施方式中，UAV 304可以包括许多不同类型的UAV。例如，UAV 304可以包括多种类型的UAV，每种类型的UAV被配置为用于不同类型的有效载荷递送能力。In the illustrative embodiment,UAV 304 may take various forms. For example, each UAV inUAV 304 may be a UAV such as shown in FIGS. 1A-1E . However, UAV system 300 may utilize other types of UAVs without departing from the scope of the present invention. In some implementations, allUAVs 304 may have the same or similar configuration. However, in other implementations,UAV 304 may include many different types of UAVs. For example,UAV 304 may include multiple types of UAVs, each type of UAV configured for a different type of payload delivery capability.

UAV系统300还可以包括远程设备306，其可以采取各种形式。一般地，远程设备306可以是任何设备，通过该设备可以做出调度UAV的直接或间接请求。(注意，间接请求可能涉及可以通过调度UAV来作出响应的任何通信，诸如请求包裹递送)。在示例实施例中，远程设备306可以是移动电话、平板计算机、膝上型计算机、个人计算机或任何网络连接的计算设备。此外，在一些情况下，远程设备306可以不是计算设备。作为示例，允许经由普通老式电话服务(POTS)进行通信的标准电话可以用作远程设备306。其他类型的远程设备也是可能的。UAV system 300 may also include remote device 306, which may take various forms. In general, remote device 306 may be any device through which a direct or indirect request to schedule a UAV may be made. (Note that an indirect request may involve any communication that can be responded to by dispatching a UAV, such as a request for package delivery). In an example embodiment, remote device 306 may be a mobile phone, tablet computer, laptop computer, personal computer, or any network connected computing device. Furthermore, in some cases, remote device 306 may not be a computing device. As an example, a standard telephone that allows communication via Plain Old Telephone Service (POTS) may be used as the remote device 306 . Other types of remote devices are also possible.

此外，远程设备306可以被配置为经由一种或多种类型的通信网络308与访问系统302通信。例如，远程设备306可以由通过POTS网络、蜂窝网络和/或诸如互联网的数据网络通信来与访问系统302(或访问系统302的人类操作员)通信。也可以利用其他类型的网络。Additionally, the remote device 306 may be configured to communicate with the access system 302 via one or more types of communication networks 308 . For example, remote device 306 may communicate with accessing system 302 (or a human operator accessing system 302) by communicating over a POTS network, a cellular network, and/or a data network such as the Internet. Other types of networks may also be utilized.

在一些实施例中，远程设备306可以被配置为允许用户请求将一个或多个物品递送到期望的位置。例如，用户可以经由他们的移动电话、平板计算机或膝上型计算机请求UAV将包裹递送到他们家中。作为另一个示例，用户可以请求动态递送到他们在递送时所在的任何地方。为了提供这样的动态递送，UAV系统300可以从用户的移动电话或用户的人上的任何其他设备，接收位置信息(例如，GPS坐标等)使得UAV可以导航到用户的位置(如他们的移动电话所指示的)。In some embodiments, remote device 306 may be configured to allow a user to request delivery of one or more items to a desired location. For example, a user may request the UAV to deliver a package to their home via their mobile phone, tablet or laptop. As another example, users can request dynamic delivery to wherever they are at the time of delivery. To provide such dynamic delivery, the UAV system 300 may receive location information (eg, GPS coordinates, etc.) from the user's mobile phone or any other device on the user's person so that the UAV can navigate to the user's location (eg, their mobile phone) indicated).

在说明性布置中，中央调度系统310可以是服务器或服务器组，其被配置为从访问系统302接收调度消息请求和/或调度指令。这样的调度消息可以请求或指示中央调度系统310协调UAV到各种目标位置的部署。中央调度系统310还可以被配置为将这样的请求或指令路由到一个或多个本地调度系统312。为了提供这样的功能，中央调度系统310可以经由数据网络(诸如互联网或为访问系统和自动调度系统之间的通信而建立的专用网络)与访问系统302通信。In the illustrative arrangement,central dispatch system 310 may be a server or group of servers configured to receive dispatch message requests and/or dispatch instructions from access system 302 . Such dispatch messages may request or instruct thecentral dispatch system 310 to coordinate the deployment of the UAV to various target locations. Thecentral dispatch system 310 may also be configured to route such requests or instructions to one or morelocal dispatch systems 312 . To provide such functionality, thecentral dispatch system 310 may communicate with the access system 302 via a data network, such as the Internet or a dedicated network established for communication between the access system and the automated dispatch system.

在所示的配置中，中央调度系统310可以被配置为协调来自多个不同的本地调度系统312的UAV 304的调度。这样，中央调度系统310可以跟踪哪些UAV 304位于哪些本地调度系统312，哪些UAV 304当前可用于部署，和/或UAV 304中的每个UAV被配置为用于哪些服务或操作(在UAV机群包括被配置用于不同服务和/或操作的多种类型的UAV的事件中)。附加地或替代地，每个本地调度系统312可以被配置为跟踪其相关联的UAV 304中的哪些当前可用于部署和/或当前在物品运输中间。In the configuration shown, thecentral dispatch system 310 may be configured to coordinate the dispatch of theUAVs 304 from a plurality of differentlocal dispatch systems 312 . In this way, thecentral dispatch system 310 can keep track of which UAVs 304 are located in whichlocal dispatch systems 312, which UAVs 304 are currently available for deployment, and/or which services or operations each of theUAVs 304 is configured for (in the UAV fleet including in the event of multiple types of UAVs configured for different services and/or operations). Additionally or alternatively, eachlocal dispatch system 312 may be configured to track which of its associatedUAVs 304 are currently available for deployment and/or currently in transit of items.

在一些情况下，当中央调度系统310从访问系统302接收对UAV相关服务(例如，物品的运输)的请求时，中央调度系统310可以选择特定的UAV304进行调度。中央调度系统310可以相应地指示与所选择的UAV相关联的本地调度系统312调度选择的UAV。本地调度系统312然后可以操作其相关联的部署系统314来发射选定的UAV。在其他情况下，中央调度系统310可以将对UAV相关服务的请求转发给处于请求支持的位置附近的本地调度系统312，并将特定UAV 304的选择留给本地调度系统312。In some cases, whencentral dispatch system 310 receives a request from access system 302 for UAV-related services (eg, transportation of items),central dispatch system 310 may select aparticular UAV 304 for dispatch. Thecentral scheduling system 310 may accordingly instruct thelocal scheduling system 312 associated with the selected UAV to schedule the selected UAV. Thelocal dispatch system 312 may then operate its associated deployment system 314 to transmit the selected UAV. In other cases, thecentral dispatch system 310 may forward the request for UAV-related services to thelocal dispatch system 312 in the vicinity of the location requesting support, and leave the selection of aparticular UAV 304 to thelocal dispatch system 312 .

在示例配置中，本地调度系统312可以被实现为与其控制的部署系统314位于相同位置的计算系统。例如，本地调度系统312可以由安装在诸如仓库的建筑物处的计算系统来实现，其中，与特定本地调度系统312相关联的部署系统314和UAV 304也位于该建筑物处。在其他实施例中，本地调度系统312可以在远离其相关联的部署系统314和UAV 304的位置实现。In an example configuration, thelocal scheduling system 312 may be implemented as a computing system co-located with the deployment system 314 it controls. For example, thelocal dispatch system 312 may be implemented by a computing system installed at a building, such as a warehouse, where the deployment system 314 andUAV 304 associated with a particularlocal dispatch system 312 are also located. In other embodiments, thelocal dispatch system 312 may be implemented at a location remote from its associated deployment system 314 andUAV 304 .

UAV系统300的图示配置的许多变化和替代方案是可能的。例如，在一些实施例中，远程设备306的用户可以直接从中央调度系统310请求递送包裹。为此，可以在远程设备306上实现应用，该应用允许用户提供关于请求的递送的信息，并生成和发送数据消息以请求UAV系统300提供递送。在这样的实施例中，中央调度系统310可以包括自动化功能，以处理由这样的应用生成的请求，评价这样的请求，并且如果适当的话，与适当的本地调度系统312协调以部署UAV。Many variations and alternatives to the illustrated configuration of UAV system 300 are possible. For example, in some embodiments, the user of remote device 306 may request package delivery directly fromcentral dispatch system 310 . To this end, an application may be implemented on the remote device 306 that allows the user to provide information about the requested delivery, and to generate and send data messages to request the UAV system 300 to provide the delivery. In such embodiments, thecentral dispatch system 310 may include automated functionality to process requests generated by such applications, evaluate such requests, and, if appropriate, coordinate with the appropriatelocal dispatch system 312 to deploy the UAV.

此外，本文归因于中央调度系统310、本地调度系统312、访问系统302和/或部署系统314的一些或所有功能可以被组合在单个系统中、在更复杂的系统中实现、和/或以各种方式在中央调度系统310、本地调度系统312、访问系统302和/或部署系统314当中重新分布。Furthermore, some or all of the functions attributed herein to thecentral dispatch system 310, thelocal dispatch system 312, the access system 302, and/or the deployment system 314 may be combined in a single system, implemented in a more complex system, and/or with Various approaches are redistributed among thecentral dispatch system 310 , thelocal dispatch system 312 , the access system 302 , and/or the deployment system 314 .

此外，虽然每个本地调度系统312被示为具有两个相关联的部署系统314，但是给定的本地调度系统312可以替代地具有更多或更少的相关联的部署系统314。类似地，虽然中央调度系统310被示出为与两个本地调度系统312通信，但是中央调度系统310也可以替代地与更多或更少的本地调度系统312通信。Additionally, although eachlocal scheduling system 312 is shown as having two associated deployment systems 314 , a givenlocal scheduling system 312 may alternatively have more or fewer associated deployment systems 314 . Similarly, although thecentral dispatch system 310 is shown in communication with twolocal dispatch systems 312 , thecentral dispatch system 310 may alternatively be in communication with more or fewerlocal dispatch systems 312 .

在另一方面，部署系统314可以采取各种形式。一般地，部署系统314可以采取用于物理发射UAV 304中的一个或多个UAV的系统的形式或包括该系统。这样的发射系统可以包括提供自动化UAV发射的特征和/或允许人类帮助的UAV发射的特征。此外，部署系统314可以各自被配置为发射一个特定的UAV 304，或者发射多个UAV 304。In another aspect, deployment system 314 may take various forms. Generally, deployment system 314 may take the form of or include a system for physically transmitting one or more ofUAVs 304 . Such launch systems may include features that provide automated UAV launch and/or features that allow human-assisted UAV launch. Additionally, deployment systems 314 may each be configured to transmit aparticular UAV 304 , or to transmitmultiple UAVs 304 .

部署系统314还可以被配置为提供附加功能，包括例如诊断相关功能，诸如验证UAV的系统功能、验证容纳在UAV内的设备(例如，有效载荷递送装置)的功能、和/或维护容纳在UAV内的设备或其他物品(例如，通过监视有效载荷的状态，诸如其温度、重量等)。Deployment system 314 may also be configured to provide additional functionality, including, for example, diagnostic-related functionality, such as verifying system functionality of the UAV, verifying functionality of equipment (eg, payload delivery devices) contained within the UAV, and/or maintaining the functionality contained within the UAV equipment or other items within (eg, by monitoring the status of the payload, such as its temperature, weight, etc.).

在一些实施例中，部署系统314和它们对应的UAV 304(以及可能相关联的本地调度系统312)可以战略性地遍布诸如城市的区域分布。例如，部署系统314可以战略性地分布，使得每个部署系统314接近一个或多个有效载荷拾取位置(例如，在餐馆、商店或仓库附近)。然而，取决于特定的实施方式，部署系统314(以及可能的本地调度系统312)可以以其他方式分布。作为附加的示例，允许用户经由UAV运输包裹的亭(kiosk)可以安装在不同的位置。这样的亭可以包括UAV发射系统，并且可以允许用户提供他们的包裹以装载到UAV上，并且支付UAV运送服务等。其他示例也是可能的。In some embodiments, deployment systems 314 and their corresponding UAVs 304 (and possibly associated local dispatch systems 312 ) may be strategically distributed throughout an area such as a city. For example, deployment systems 314 may be strategically distributed such that each deployment system 314 is proximate to one or more payload pickup locations (eg, near restaurants, stores, or warehouses). However, depending on the particular implementation, the deployment system 314 (and possibly the local scheduling system 312 ) may be distributed in other ways. As an additional example, kiosks that allow users to transport packages via UAVs may be installed in different locations. Such a kiosk may include a UAV launch system and may allow users to provide their packages for loading onto the UAV, and pay for UAV delivery services, among other things. Other examples are also possible.

在另一方面，UAV系统300可以包括或访问用户账户数据库316。用户账户数据库316可以包括多个用户账户的数据，并且每个用户账户与一个或多个人相关联。对于给定的用户账户，用户账户数据库316可以包括与提供UAV相关的服务相关的数据或在提供UAV相关的服务中有用。典型地，与每个用户账户相关联的用户数据可选地由相关联的用户提供和/或在相关联的用户的许可下收集。In another aspect, UAV system 300 may include or access user account database 316 . User account database 316 may include data for multiple user accounts, and each user account is associated with one or more persons. For a given user account, the user account database 316 may include data related to or useful in providing UAV-related services. Typically, user data associated with each user account is optionally provided by the associated user and/or collected with the permission of the associated user.

此外，在一些实施例中，如果人希望由UAV 304从UAV系统300向其提供UAV相关的服务，则可能要求他们向UAV系统300注册用户账户。这样，用户账户数据库316可以包括给定用户账户的授权信息(例如，用户名称和密码)，和/或可以用于授权访问用户账户的其他信息。Additionally, in some embodiments, a person may be required to register a user account with UAV system 300 if they wish to have UAV-related services provided to them byUAV 304 from UAV system 300 . As such, user account database 316 may include authorization information for a given user account (eg, user name and password), and/or other information that may be used to authorize access to a user account.

在一些实施例中，人可以将他们的一个或多个设备与他们的用户账户相关联，使得他们可以访问UAV系统300的服务。例如，当人使用相关联的移动电话时，例如向访问系统302的操作者发出呼叫或者向调度系统发送请求UAV相关的服务的消息时，该电话可以经由唯一的设备标识号来标识，并且该呼叫或消息然后可以归因于相关联的用户账户。其他示例也是可能的。V.用于改变操作构件的状态的示例系统和装置In some embodiments, a person may associate one or more of their devices with their user account so that they can access the services of the UAV system 300 . For example, when a person uses an associated mobile phone, such as placing a call to an operator accessing the system 302 or sending a message to a dispatch system requesting UAV-related services, the phone may be identified via a unique device identification number, and the The call or message can then be attributed to the associated user account. Other examples are also possible. V. Example Systems and Apparatuses for Changing the State of an Operating Member

图4是根据示例的系统的简化框图。具体地，图4示出了具有计算设备402的系统400，计算设备402具有处理器404、存储器406和指令408。计算设备402可以用作系统400的中央控制器。在某些示例中，系统400可以对应于上述UAV 200的系统。例如，处理器404可以对应于上述处理器208。4 is a simplified block diagram of a system according to an example. Specifically, FIG. 4 shows asystem 400 having a computing device 402 having aprocessor 404 ,memory 406 andinstructions 408 . Computing device 402 may serve as a central controller forsystem 400 . In some examples,system 400 may correspond to the system ofUAV 200 described above. For example,processor 404 may correspond to processor 208 described above.

在所示实施例中，UAV 200还包括一个或多个处理器208。处理器208可以是通用处理器或专用处理器(例如，数字信号处理器、专用集成电路等)。一个或多个处理器208可以被配置为执行计算机可读程序指令212，该计算机可读程序指令212被存储在数据存储210中并且可被执行以提供本文描述的UAV的功能。系统400还包括连接到电力电路412的电源410，电力电路412向包括操作构件414和操作构件416的多个操作构件供应一个或多个电力或控制信号。In the illustrated embodiment,UAV 200 also includes one or more processors 208 . The processor 208 may be a general purpose processor or a special purpose processor (eg, a digital signal processor, an application specific integrated circuit, etc.). The one or more processors 208 may be configured to execute computer readable program instructions 212 stored in the data store 210 and executable to provide the functionality of the UAV described herein.System 400 also includes apower source 410 connected topower circuit 412 that supplies one or more power or control signals to a plurality of operating members including operatingmember 414 and operatingmember 416 .

存储器406可以包括可以由处理器404中的至少一个处理器读取或访问的一个或多个计算机可读存储介质或采取一个或多个计算机可读存储介质的形式。一个或多个计算机可读存储介质可以包括易失性和/或非易失性存储组件，诸如光、磁、有机或其他存储器或盘存储，它们可以整体或部分地与处理器404中的至少一个处理器集成。在一些实施例中，存储器406可以使用单个物理设备(例如，一个光、磁、有机或其他存储器或盘存储单元)来实现，而在其他实施例中，数据存储210可以使用两个或更多个物理设备来实现。Memory 406 may include or take the form of one or more computer-readable storage media that can be read or accessed by at least one ofprocessors 404 . One or more computer-readable storage media may include volatile and/or non-volatile storage components, such as optical, magnetic, organic, or other memory or disk storage, which may be associated, in whole or in part, with at least one of theprocessors 404. A processor is integrated. In some embodiments,memory 406 may be implemented using a single physical device (eg, one optical, magnetic, organic, or other memory or disk storage unit), while in other embodiments, data storage 210 may use two or more a physical device.

存储器406可以包括指令212，诸如计算机可读程序指令，以及可能的附加数据，诸如(例如，UAV 200的)系统400的诊断数据。这样，存储器406可以包括指令408，以执行或促进本文针对系统400描述的一些或所有功能。例如，在所示实施例中，指令408对应于涉及电力电路412和多个操作构件的操作。Memory 406 may include instructions 212, such as computer-readable program instructions, and possibly additional data, such as diagnostic data for system 400 (eg, of UAV 200). As such,memory 406 may includeinstructions 408 to perform or facilitate some or all of the functions described herein forsystem 400 . For example, in the illustrated embodiment, theinstructions 408 correspond to operations involving thepower circuit 412 and various operating components.

电力电路412包括对应于多个操作构件的多个导电耦合构件。如图4所示，导电耦合构件418对应于操作构件414，并且导电耦合构件420对应于操作构件416。电力电路412从电源410接收电力。例如，电源410可以是系统400的电池。电力电路412可以包括从电源410汲取电力且包括导电耦合构件的多个电流路径。耦合构件中的一个耦合构件的机械破裂可能阻止电力或控制信号到达对应的操作构件，从而导致操作构件停止移动。在一些示例中，停止电力或控制信号可以基于计算设备402或操作构件感测到由导电耦合构件的机械破裂导致的电气断开。在其他示例中，这可能是因为电力或控制信号停止被提供给操作构件而发生的。例如，如果电力电路的每个电流路径连接到电源410的电力总线，那么机械破裂将停止操作构件接收电力，并且因此操作构件的移动将由于缺少电力供应而停止。如下所述，基于导电耦合构件改变操作构件的状态的其他可能方式也是可能的。Thepower circuit 412 includes a plurality of conductive coupling members corresponding to the plurality of operating members. As shown in FIG. 4 , theconductive coupling member 418 corresponds to the operatingmember 414 , and theconductive coupling member 420 corresponds to the operatingmember 416 .Power circuit 412 receives power frompower source 410 . For example,power source 410 may be a battery ofsystem 400 .Power circuit 412 may include multiple current paths that draw power frompower source 410 and include conductive coupling members. Mechanical rupture of one of the coupling members may prevent power or control signals from reaching the corresponding operating member, thereby causing the operating member to stop moving. In some examples, stopping the power or control signal may be based on the computing device 402 or the operating member sensing an electrical disconnect caused by a mechanical rupture of the conductive coupling member. In other examples, this may occur because power or control signals cease to be provided to the operating member. For example, if each current path of the power circuit were connected to the power bus of thepower source 410, a mechanical rupture would stop the operating member from receiving power, and thus movement of the operating member would stop due to lack of power supply. Other possible ways of changing the state of the operating member based on the conductive coupling member are also possible, as described below.

在进一步的示例中，系统400可以包括一个或多个结构构件。导电耦合构件可以将每个操作构件固定到一个或多个结构构件。如下面进一步描述的，一个或多个结构构件还可以包括结合在其中的导电特征，并且还允许对结构构件的状态进行鲁棒感测。在这样的情景下，电力电路412，或者更一般地系统400，还可以包括被结合到一个或多个结构构件中的多个导电特征。下面描述这些系统的示例实施方式。In further examples,system 400 may include one or more structural components. The conductive coupling members may secure each operating member to one or more structural members. As described further below, one or more structural members may also include conductive features incorporated therein and also allow for robust sensing of the state of the structural member. In such a scenario,power circuit 412, or more generallysystem 400, may also include a plurality of conductive features incorporated into one or more structural members. Example implementations of these systems are described below.

图5A是根据示例的处于第一状态的电力电路的简化图示。特别地，图5A示出了当耦合构件没经历机械破裂时的电力电路500。电力电路500包括电源502、电力总线504、第一电流路径516和第二电流路径528。图5A还示出了结构构件505和驱动螺旋桨508的马达506。马达506可以被认为是操作构件，因为马达506生成螺旋桨508的移动，并且促进飞行器的操作。出于本示例的目的，结构构件505可以被理解为悬臂、机身或飞行器的另一结构方面。使用固定板510、第一螺钉512和对应的螺母514以及第二螺钉524和对应的螺母526将马达506固定到结构构件505上。第一螺钉512和第二螺钉524可以被认为是所述系统的耦合构件。在示例中，固定板510、螺母514和526也可以被认为是耦合构件。在另外的示例中，固定板510、第一螺钉512和对应的螺母514以及第二螺钉524和对应的螺母526可以共同被认为是该系统的耦合构件。尽管未示出，但是可以包括绝缘特征以将第一电流路径516和第二电流路径528的元件与系统或周围环境中的其他可能的导电特征屏蔽开。例如，绝缘材料可以用于覆盖第一螺钉512和第二螺钉524，以防止来自外部环境(例如，雨)的水分创建交变电流路径。类似地，可以在第一螺钉512、第二螺钉524、固定板510和结构构件505之间使用绝缘材料，以防止电流路径流过系统的其他组件。5A is a simplified illustration of a power circuit in a first state, according to an example. In particular, Figure 5A shows thepower circuit 500 when the coupling member has not experienced mechanicalrupture. Power circuit 500 includespower supply 502 ,power bus 504 , firstcurrent path 516 and secondcurrent path 528 . FIG. 5A also shows thestructural member 505 and themotor 506 that drives thepropeller 508 .Motor 506 may be considered an operating member becausemotor 506 generates movement ofpropeller 508 and facilitates operation of the aircraft. For the purposes of this example,structural member 505 may be understood as a cantilever, a fuselage, or another structural aspect of an aircraft.Motor 506 is secured tostructural member 505 using fixingplate 510 ,first screw 512 andcorresponding nut 514 andsecond screw 524 andcorresponding nut 526 . Thefirst screw 512 and thesecond screw 524 may be considered as coupling members of the system. In the example, the fixingplate 510, thenuts 514 and 526 may also be considered as coupling members. In further examples, the fixingplate 510, thefirst screw 512 andcorresponding nut 514, and thesecond screw 524 andcorresponding nut 526 may collectively be considered as the coupling members of the system. Although not shown, insulating features may be included to shield elements of firstcurrent path 516 and secondcurrent path 528 from other possible conductive features in the system or the surrounding environment. For example, insulating material may be used to cover thefirst screw 512 and thesecond screw 524 to prevent moisture from the external environment (eg, rain) from creating an alternating current path. Similarly, insulating material may be used between thefirst screw 512, thesecond screw 524, the mountingplate 510, and thestructural member 505 to prevent current paths from flowing through other components of the system.

第一螺钉512和第二螺钉524是导电的，并且每个都是电力电路500的一部分。特别地，第一螺钉512是第一电流路径516的一部分，并且第二螺钉524是第二电流路径528的一部分。每个电流路径向马达506的控制器536供应电力或控制信号。如图5A所示，螺母514连接到第一输入线522，第一输入线522经由第一螺钉512向控制器536提供电力或控制信号。类似地，螺母526连接到第二输入线534，第二输入线534经由第二螺钉524向控制器536提供电力或控制信号。每个电流路径可以将控制器536连接到电力总线504(如图5A所示)，供应与向马达506提供多少电力相关的控制信号(例如PWM信号)，或者对应于多相电力的相或控制信号。其他类型的电力或控制信号是可能的。一般地，电力或控制信号可以指的是指示操作消耗的电力量的信号。在某些情境下，电力或控制信号可以是二进制的：操作构件接收电力或不接收电力。在其他情境下，电力或控制信号允许操作构件消耗一定范围的电力水平(例如，当使用PWM或CAN信号时)。Thefirst screw 512 and thesecond screw 524 are electrically conductive and are each part of thepower circuit 500 . In particular, thefirst screw 512 is part of the firstcurrent path 516 and thesecond screw 524 is part of the secondcurrent path 528 . Each current path supplies power or a control signal to thecontroller 536 of themotor 506 . As shown in FIG. 5A , thenut 514 is connected to thefirst input wire 522 which provides power or control signals to thecontroller 536 via thefirst screw 512 . Similarly, thenut 526 is connected to asecond input wire 534 which provides power or control signals to thecontroller 536 via thesecond screw 524 . Each current path may connect thecontroller 536 to the power bus 504 (shown in FIG. 5A ), supply a control signal (eg, a PWM signal) related to how much power is provided to themotor 506 , or a phase or control corresponding to polyphase power Signal. Other types of power or control signals are possible. Generally, a power or control signal may refer to a signal indicative of the amount of power consumed by an operation. In some contexts, the power or control signal may be binary: the operating member receives power or does not receive power. In other contexts, the power or control signals allow the operating member to consume a range of power levels (eg, when using PWM or CAN signals).

电力电路500还包括第一电流路径516中的第一电阻器518和第二电流路径中的第二电阻器530。此外，电力电路500包括第一电流路径516的第一节点520和第二电流路径528的第二节点532。在电力电路500的第一状态下，电流通过电流路径和导电耦合构件两者流到控制器536。控制器536可以具有内部电阻，因此第一节点520和第二节点532可以具有基于第一电阻器518、第二电阻器530的电阻和控制器536的内部电阻的电压电平。因此，计算设备可以通过采样第一节点520和第二节点532处的电压电平来确定电力电路500的状态。如图5A所示，低于电力总线504的电压电平指示耦合构件尚未经历机械破裂。Thepower circuit 500 also includes afirst resistor 518 in the firstcurrent path 516 and asecond resistor 530 in the second current path. Additionally, thepower circuit 500 includes afirst node 520 of the firstcurrent path 516 and asecond node 532 of the secondcurrent path 528 . In the first state of thepower circuit 500, current flows to thecontroller 536 through both the current path and the conductive coupling member. Thecontroller 536 may have an internal resistance, and thus thefirst node 520 and thesecond node 532 may have voltage levels based on the resistance of thefirst resistor 518 , thesecond resistor 530 , and the internal resistance of thecontroller 536 . Accordingly, the computing device can determine the state of thepower circuit 500 by sampling the voltage levels at thefirst node 520 and thesecond node 532 . As shown in Figure 5A, a voltage level belowpower bus 504 indicates that the coupling member has not experienced mechanical rupture.

尽管在图5A中描绘了两个耦合构件—第一螺钉512和第二螺钉524，但是可以使用更多或更少的耦合构件。此外，尽管电力电路500使用电力总线504向控制器536提供电力或控制信号，但是其他示例可以涉及源自别处的电力或控制信号，诸如直接来自计算设备(例如，计算设备402)或系统的另一组件。电力电路500可以以其他方式配置，并且仍然提供与图5A所示类似的功能。Although two coupling members -first screw 512 and second screw 524 - are depicted in Figure 5A, more or fewer coupling members may be used. Additionally, althoughpower circuit 500 provides power or control signals tocontroller 536 usingpower bus 504, other examples may involve power or control signals originating elsewhere, such as directly from a computing device (eg, computing device 402) or another system source a component.Power circuit 500 may be configured in other ways and still provide similar functionality as shown in FIG. 5A.

图5B是根据示例的处于第二状态的电力电路的简化图示。特别地，图5B示出了处于第二状态的电力电路500。图5B的第二状态可以被理解为在图5A所示的第一状态之后发生的电力电路500的状态。在图5B中，第一螺钉512没有连接到螺母514上，因为第一螺钉512的螺纹已经滑牙。这导致马达506不固定到结构构件505。此外，因为螺钉512已经经历了机械破裂，所以与第一节点520相关联的第一端子和与第一输入线522相关联的第二端子变得电气断开。5B is a simplified illustration of a power circuit in a second state, according to an example. In particular, Figure 5B showspower circuit 500 in a second state. The second state of FIG. 5B can be understood as a state of thepower circuit 500 that occurs after the first state shown in FIG. 5A . In FIG. 5B, thefirst screw 512 is not connected to thenut 514 because the thread of thefirst screw 512 has slipped. This results in themotor 506 not being secured to thestructural member 505 . Furthermore, because thescrew 512 has undergone mechanical rupture, the first terminal associated with thefirst node 520 and the second terminal associated with thefirst input line 522 become electrically disconnected.

控制器536可以基于接收到零电力或控制信号来确定电气断开，并响应性地控制马达506停止移动。在操作构件直接从耦合构件接收电力或控制信号(即，没有中间控制器)的示例中，由于缺少从电力或控制信号接收的动力，操作构件可能停止移动。由于第一螺钉512的机械破裂，第一电流路径516在第一节点520处变得开路，并且电压增加到与电力总线504相同的电压水平。计算设备可以基于第一节点520处的电压增加来确定第一螺钉512的机械破裂，并推断马达506的移动停止。因此，计算设备可以基于马达506和螺旋桨508不移动来控制系统(例如，飞行器，诸如UAV)。例如，响应于确定第一螺钉512的机械破裂，计算设备可以增加与马达506共享悬臂的一个或多个马达的速度。Thecontroller 536 may determine an electrical disconnect based on receiving zero power or a control signal, and responsively control themotor 506 to stop moving. In examples where the operating member receives power or control signals directly from the coupling member (ie, without an intermediate controller), the operating member may stop moving due to lack of power received from the power or control signal. Due to mechanical rupture of thefirst screw 512 , the firstcurrent path 516 becomes an open circuit at thefirst node 520 and the voltage increases to the same voltage level as thepower bus 504 . The computing device may determine the mechanical rupture of thefirst screw 512 based on the voltage increase at thefirst node 520 and infer that movement of themotor 506 has ceased. Thus, a computing device may control a system (eg, an aircraft, such as a UAV) based onmotor 506 andpropeller 508 not moving. For example, in response to determining a mechanical fracture of thefirst screw 512 , the computing device may increase the speed of one or more motors that share the cantilever with themotor 506 .

图6A是根据示例的处于第一状态的结构构件的简化图示。特别地，图6A示出了包括机翼602的结构构件600。机翼602具有结合在其中的一个或多个导电特征。特别地，电流路径604被结合到机翼602中。电流路径604可以由具有可变电阻的材料组成，该可变电阻取决于挠度(deflection)和对材料强加的对应应变。例如，电流路径604可以包括金属，并且对机翼602的冲击可以对电流路径604具有压阻效应。换句话说，电阻率可以与电流路径604上的应变量成比例地增加。尽管电流路径604仅示出了几匝，但实际上，电流路径604可以布线得更密，以增加压阻效应的可检测性。6A is a simplified illustration of a structural member in a first state, according to an example. In particular, FIG. 6A shows astructural member 600 including awing 602 . Theairfoil 602 has one or more conductive features incorporated therein. In particular, current path 604 is incorporated intowing 602 . The current path 604 may be composed of a material having a variable resistance that depends on the deflection and corresponding strain imposed on the material. For example, the current path 604 may comprise metal, and a shock to thewing 602 may have a piezoresistive effect on the current path 604 . In other words, the resistivity may increase in proportion to the amount of strain on the current path 604 . Although only a few turns of the current path 604 are shown, in practice, the current path 604 may be routed more densely to increase the detectability of the piezoresistive effect.

图6A还示出了多个节点606、610、614和618，它们分别对应于机翼602的区域608、612、616和620。检测每个给定节点处的电压电平可以指示电流路径604的部分在机翼602的对应区域中的电阻有多大。例如，计算设备可以周期性地采样每个节点处的电压电平，并且采样的电压电平的变化指示电流路径604在一个或多个位置处的电阻率的改变。以这种方式，计算设备(例如，计算设备402)可以确定区域608、612、616和620中的一个或多个是否经受冲击。在示例中，响应于在节点606、610、614和618之一处检测了电阻率的改变，计算设备可以安排机翼602或其区域的检查或维护。6A also shows a plurality of nodes 606, 610, 614, and 618, which correspond toregions 608, 612, 616, and 620 of thewing 602, respectively. Detecting the voltage level at each given node may indicate how resistive the portion of the current path 604 is in the corresponding region of thewing 602 . For example, the computing device may periodically sample the voltage level at each node, and changes in the sampled voltage levels indicate changes in the resistivity of the current path 604 at one or more locations. In this manner, a computing device (eg, computing device 402 ) may determine whether one or more ofregions 608 , 612 , 616 , and 620 have experienced an impact. In an example, in response to detecting a change in resistivity at one of nodes 606, 610, 614, and 618, the computing device may schedule inspection or maintenance ofwing 602 or an area thereof.

图6B是根据示例的处于第二状态的结构构件的简化图示。在第二状态下，机翼602经历了导致机翼602的表面在区域622中挠度的冲击。基于电流路径604被结合到机翼602的表面中，机翼602的区域622中的挠度导致电流路径604的对应部分上的应变增加，从而增加了电阻。出于说明的目的，这由电阻器624表示。基于该增加的电阻，618处的电压电平可能改变，并且计算设备可以确定区域620已经经受冲击。例如，这可以涉及基于节点618处的采样电压电平确定区域620内的电流路径604的电阻率，计算区域620中的电流路径604上的对应应变，以及基于区域620推断区域620中的挠度量。确定电阻率保持在较高水平可以暗示机翼602在区域620已经经受了持久的损坏，并且计算设备可以基于该确定响应性地安排机翼602的维护。确定电阻率返回到较低水平可以指示机翼602经受了冲击，但是没有经受持久的损坏，并且计算设备可以基于该确定响应性地安排对机翼602的检查。6B is a simplified illustration of a structural member in a second state, according to an example. In the second state,airfoil 602 experiences an impact that causes the surface ofairfoil 602 to deflect in region 622 . Based on the current path 604 being incorporated into the surface of thewing 602, the deflection in the region 622 of thewing 602 causes increased strain on the corresponding portion of the current path 604, thereby increasing the electrical resistance. This is represented by resistor 624 for illustration purposes. Based on this increased resistance, the voltage level at 618 may change, and the computing device may determine thatregion 620 has experienced a shock. For example, this may involve determining the resistivity of the current path 604 within theregion 620 based on the sampled voltage level at node 618 , calculating the corresponding strain on the current path 604 in theregion 620 , and inferring the amount of deflection in theregion 620 based on theregion 620 . Determining that the resistivity remains at a high level may suggest that theairfoil 602 has experienced lasting damage in theregion 620, and the computing device may responsively schedule maintenance of theairfoil 602 based on the determination. Determining that the resistivity returns to a lower level may indicate that thewing 602 has experienced impact, but not sustained damage, and the computing device may responsively schedule inspection of thewing 602 based on the determination.

图7是根据示例的结构构件的简化图示。特别地，图7示出了包括机翼702的结构构件700的俯视图。在机翼702内，形成导电材料的网格704，该网格704可以指示机翼702是否已经经受了冲击，从而指示是否批准对机翼702进行检查或维护。因此，网格704是可以结合到结构构件中的另一种导电特征。网格704可以是在机翼702的注射成型期间或之前插入的互连电导线(例如，低规格电线)的框架。网格可以以基本上填充机翼702内的三维空间的方式布置。例如，网格可以在泡沫材料注入机翼702之前或同时插入，并且随着泡沫材料固化，网格可以保持在适当位置。在一些示例中，网格可以根据注射过程随机布置。在其他示例中，网格可以被预制以适合结构构件700内的空的空间。7 is a simplified illustration of a structural member according to an example. In particular, FIG. 7 shows a top view of astructural member 700 including anairfoil 702 . Within thewing 702, agrid 704 of conductive material is formed that can indicate whether thewing 702 has experienced an impact, and thus whether inspection or maintenance of thewing 702 is authorized. Thus,mesh 704 is another conductive feature that can be incorporated into a structural member.Grid 704 may be a frame of interconnected electrical wires (eg, low-gauge wires) inserted during or prior to injection molding ofwing 702 . The grids may be arranged in a manner that substantially fills the three-dimensional space within thewing 702 . For example, the mesh may be inserted before or at the same time as the foam is injected into thewing 702, and the mesh may remain in place as the foam cures. In some examples, the grids may be randomly arranged according to the injection process. In other examples, the grid may be prefabricated to fit empty spaces withinstructural member 700 .

结构构件700还示出了输入线706、采样节点708和接地节点710。计算设备可以周期性地对采样节点708和与网格704相关联的任何其他采样节点处的电压电平进行采样。不同的采样节点可以对应于网格704的不同部分，因此，如果网格704中的电导线破裂并将一部分从框架断开，那么这可以通过对对应的采样节点进行采样来检测。基于检测了一个或多个电导线已经断开，计算设备可以确定机翼702已经经受了足够大的冲击以使网格704中的电导线破裂，并且响应地安排机翼702的检查或维护。在其他示例中，计算设备可以响应于检测了网格704中的改变而采取其他动作，诸如使飞行器停飞或者改变递送安排以加速飞行器的维护。在一些示例中，检测网格中的改变可以涉及检测网格704的电阻水平。例如，如果采样节点708处的总电压水平从与网格704的初始电阻相关联的基线电压改变到与网格704的改变的电阻相关联的采样电压，那么这可以标示对机翼702的冲击。Structural member 700 also showsinput line 706 ,sampling node 708 andground node 710 . The computing device may periodically sample the voltage levels atsampling node 708 and any other sampling nodes associated withgrid 704 . Different sampling nodes may correspond to different portions ofgrid 704, so if an electrical wire ingrid 704 breaks and disconnects a portion from the frame, this can be detected by sampling the corresponding sampling nodes. Based on detecting that one or more electrical leads have broken, the computing device can determine that thewing 702 has experienced an impact large enough to rupture the electrical leads in thegrid 704, and responsively schedule inspection or maintenance of thewing 702. In other examples, the computing device may take other actions in response to detecting changes ingrid 704, such as grounding the aircraft or changing delivery schedules to expedite maintenance of the aircraft. In some examples, detecting a change in the grid may involve detecting the resistance level ofgrid 704 . For example, if the total voltage level atsampling node 708 changes from a baseline voltage associated with the initial resistance ofgrid 704 to a sampled voltage associated with the changed resistance ofgrid 704, this may indicate a shock towing 702 .

图8A是根据示例的处于第一状态的结构构件的简化图示。特别地，图8A示出了处于结构构件800没有被冲击的第一状态的结构构件800的侧视图。结构构件800包括表面802、在表面802的底部上集成到结构构件800中的多个导电特征(包括导电特征804和808)、以及对应于多个导电特征的多个接触节点(包括接触节点806和810)。导电特征被定位成使得如果表面802相对于接触节点移动，则导电特征闭合与接触节点相关联的电路，使得在接触节点处可检测电压改变。可以遍布系统的不同表面上放置导电特征和对应的接触节点的阵列，以针对冲击监视系统，并安排检查和/或维护被确定为已经经受冲击的结构构件。8A is a simplified illustration of a structural member in a first state, according to an example. In particular, FIG. 8A shows a side view of thestructural member 800 in a first state in which thestructural member 800 has not been impacted.Structural member 800 includessurface 802, a plurality of conductive features (includingconductive features 804 and 808) integrated intostructural member 800 on the bottom ofsurface 802, and a plurality of contact nodes (including contact node 806) corresponding to the plurality of conductive features and 810). The conductive features are positioned such that if thesurface 802 moves relative to the contact node, the conductive feature closes the circuit associated with the contact node such that a voltage change can be detected at the contact node. Arrays of conductive features and corresponding contact nodes may be placed throughout different surfaces of the system to monitor the system for shock and schedule inspection and/or maintenance of structural members determined to have experienced shock.

图8B是根据示例的处于第二状态的结构构件的简化图示。特别地，图8B示出了处于结构构件800已经被冲击的第二状态的结构构件800的侧视图。在第二状态中，导电表面802由于冲击已经移动，并且对应的导电特征808已经朝向接触节点810移动。基于表面802的移动，导电特征8088B is a simplified illustration of a structural member in a second state, according to an example. In particular, Figure 8B shows a side view of thestructural member 800 in a second state in which thestructural member 800 has been impacted. In the second state, theconductive surface 802 has moved due to the impact, and the correspondingconductive feature 808 has moved toward thecontact node 810 . Based on movement ofsurface 802,conductive feature 808

尽管在图6A、图6B、图7、图8A和图8B中，机翼被描绘为结构构件，但是也可以使用其他结构构件，诸如悬臂或机身。此外，类似的功能可以在其他类型的系统(诸如陆地载具、水上载具、独立式结构和其他系统)中实现。此外，尽管在检测冲击方面描述了集成到结构构件中的导电特征的使用，但是使用集成的导电特征也可检测这样的结构构件的其他状态。例如，弯曲、扭曲或其他相对移动可以使用这样的导电特征来检测。Although in Figures 6A, 6B, 7, 8A and 8B the wings are depicted as structural members, other structural members such as cantilevers or fuselage may also be used. Furthermore, similar functionality can be implemented in other types of systems such as land vehicles, water vehicles, freestanding structures and other systems. Furthermore, although the use of conductive features integrated into structural members has been described in terms of detecting impacts, other states of such structural members may also be detected using the integrated conductive features. For example, bending, twisting or other relative movement can be detected using such conductive features.

图9是根据示例的方法的框图。特别地，图9示出了方法900。方法900可以由上面参照图1、图2、图3、图4、图5A、图5B、图6A、图6B、图7、图8A或图8B描述的任何系统来执行。9 is a block diagram of a method according to an example. In particular,method 900 is shown in FIG. 9 .Method 900 may be performed by any of the systems described above with reference to Figures 1, 2, 3, 4, 5A, 5B, 6A, 6B, 7, 8A, or 8B.

此外，对于图9所示的方法和本文公开的其他过程和方法，流程图示出了本实施例的一种可能实施方式的功能和操作。在这点上，一些框可以表示模块、程序代码段或程序代码的一部分，其包括可由处理器执行的一个或多个指令，用于实现过程中的特定逻辑功能或步骤。程序代码可以存储在任何类型的计算机可读介质(例如，像包括盘或硬盘驱动器的存储设备)上。计算机可读介质可以包括非暂时性的计算机可读介质，例如，像寄存器存储器、处理器高速缓存和随机存取存储器(RAM)的短时间段存储数据的计算机可读介质。计算机可读介质还可以包括非暂时性介质，诸如二级或永久长期存储器，例如像只读存储器(ROM)、光盘或磁盘、光盘只读存储器(CD-ROM)。计算机可读介质也可以是任何其他易失性或非易失性存储系统。例如，计算机可读介质可以被认为是计算机可读存储介质、有形存储设备或其他制品。Additionally, for the method shown in FIG. 9 and other processes and methods disclosed herein, a flow diagram illustrates the functionality and operation of one possible implementation of the present embodiment. In this regard, some blocks may represent modules, segments of program code, or portions of program code, which comprise one or more instructions executable by a processor for implementing specified logical functions or steps in the processes. The program code may be stored on any type of computer-readable medium, such as, for example, a storage device including a disk or hard drive. Computer readable media may include non-transitory computer readable media such as, for example, register memory, processor cache, and random access memory (RAM), which store data for short periods of time. Computer readable media may also include non-transitory media such as secondary or persistent long-term storage such as, for example, read only memory (ROM), optical or magnetic disks, compact disk read only memory (CD-ROM). The computer readable medium can also be any other volatile or nonvolatile storage system. For example, computer-readable media may be considered computer-readable storage media, tangible storage devices, or other articles of manufacture.

此外，对于在本文中公开的方法和其他过程和方法，图9中的每个框可以表示被连线以执行过程中的特定逻辑功能的电路。Furthermore, for the methods and other processes and methods disclosed herein, each block in FIG. 9 may represent a circuit that is wired to perform a particular logical function in the process.

在框902中，方法900包括使系统的操作构件移动。例如，这可能涉及从电源向系统的操作构件(诸如马达)提供电力。Inblock 902, themethod 900 includes moving an operating member of the system. For example, this may involve providing power from a power source to operating components of the system, such as motors.

在框904中，方法900包括通过导电耦合构件(例如，螺钉或铆钉)驱动电力或控制信号。导电耦合构件连接在电力电路中的第一端子和第二端子之间，并且耦合构件将操作构件固定到系统的结构构件。例如，在飞行器中，结构构件可以是悬臂、机翼或机身。Atblock 904, themethod 900 includes driving a power or control signal through a conductive coupling member (eg, a screw or rivet). The conductive coupling member is connected between the first terminal and the second terminal in the power circuit, and the coupling member secures the operating member to the structural member of the system. For example, in an aircraft, the structural member may be a cantilever, a wing or a fuselage.

在框906中，方法900包括检测第一端子和第二端子之间的电气断开。例如，这可以涉及对电力电路中的节点处的电压电平进行采样，以检测电压从第一电平到第二电平的改变。这可以根据关于图5B描述的操作来执行。Atblock 906, themethod 900 includes detecting an electrical disconnect between the first terminal and the second terminal. For example, this may involve sampling voltage levels at nodes in the power circuit to detect changes in voltage from a first level to a second level. This may be performed according to the operations described with respect to Figure 5B.

在框908中，方法900包括基于第一端子和第二端子之间的电气断开来确定与耦合构件相关联的机械破裂。例如，这可能涉及操作构件的控制器基于不再接收电力或控制信号来检测机械破裂，或者系统的计算设备基于在电力电路中的节点处检测了的电压电平的改变来检测机械破裂。Atblock 908, themethod 900 includes determining a mechanical rupture associated with the coupling member based on the electrical disconnection between the first terminal and the second terminal. For example, this may involve the operating member's controller detecting mechanical rupture based on no longer receiving power or control signals, or the system's computing device detecting mechanical rupture based on detected changes in voltage levels at nodes in the power circuit.

在框910中，方法900包括基于确定与耦合构件相关联的机械破裂，使系统的操作构件停止移动。例如，操作构件的控制器或系统的中央控制器(例如，计算设备402)可以响应于检测了机械破裂而使操作构件停止移动。Atblock 910, themethod 900 includes stopping movement of the operating member of the system based on determining a mechanical rupture associated with the coupling member. For example, a controller of the operating member or a central controller of the system (eg, computing device 402 ) may stop movement of the operating member in response to detecting a mechanical rupture.

在示例中，电气断开对应于操作构件的故障检测回路(例如，图5A和图5B所示的第一电流路径516)开路。在这些示例中，确定机械破裂可以包括确定第一端子处的电压增加对应于故障检测回路开路。例如，这可以根据关于图5B描述的操作来执行。In an example, the electrical disconnect corresponds to an open circuit of the fault detection loop of the operating member (eg, the firstcurrent path 516 shown in FIGS. 5A and 5B ). In these examples, determining the mechanical rupture may include determining that the voltage increase at the first terminal corresponds to an open fault detection loop. For example, this may be performed in accordance with the operations described with respect to Figure 5B.

在示例中，电力或控制信号包括用作操作构件的控制器的输入的脉宽调制(PWM)信号或控制器局域网(CAN)信号。在这些示例中，检测电气断开包括通过操作构件的控制器检测没有接收PWM信号。In an example, the power or control signal includes a pulse width modulated (PWM) signal or a controller area network (CAN) signal used as an input to a controller of the operating member. In these examples, detecting the electrical disconnect includes detecting, by the controller of the operating member, that the PWM signal is not being received.

在示例中，方法900还包括基于使操作构件停止移动来改变一个或多个其他操作构件的操作。在这些示例中，故障检测回路可以与操作构件(例如，马达)的类型相关联，并且基于操作构件的类型来改变一个或多个其他操作构件的操作。例如，操作构件可以是马达，并且系统的中央控制器(例如，计算设备402)可以使系统的一个或多个附加马达增加速度，以补偿该马达供应的升力的不足。In an example,method 900 also includes changing the operation of one or more other operating members based on stopping movement of the operating member. In these examples, the fault detection loop may be associated with the type of operating member (eg, motor) and alter the operation of one or more other operating members based on the type of operating member. For example, the operating member may be a motor, and the central controller of the system (eg, computing device 402 ) may increase the speed of one or more additional motors of the system to compensate for the lack of lift supplied by that motor.

在示例中，方法900包括基于结构构件的振动剖面(vibration profile)确定机械破裂。例如，未固定的马达可能导致悬臂的振动，这可以由系统的中央控制器使用一个或多个振动传感器而可检测。方法900还可以包括基于故障检测回路开路来证实(corroborate)振动剖面。因此，可以利用故障检测回路来增加感测操作构件未被固定的置信水平，或者加速检测操作构件未被固定。In an example,method 900 includes determining mechanical fracture based on a vibration profile of the structural member. For example, an unsecured motor may cause vibration of the cantilever, which may be detectable by the system's central controller using one or more vibration sensors. Themethod 900 may also include corroborating the vibration profile based on an open fault detection loop. Thus, a fault detection loop can be used to increase the confidence level of sensing that the operating member is not fixed, or to accelerate the detection that the operating member is not fixed.

在示例中，方法900还包括基于故障检测回路开路来更新系统的维护安排。例如，因为故障检测回路可以标示耦合构件的机械破裂，所以系统的中央控制器可以安排耦合构件以及可能对应的结构构件和/或操作构件的维护。In an example,method 900 also includes updating a maintenance schedule for the system based on the fault detection loop being open. For example, a central controller of the system may schedule maintenance of the coupling member and possibly corresponding structural and/or operational members, as a fault detection loop may signal a mechanical rupture of the coupling member.

在示例中，方法900还包括响应于确定机械破裂来改变飞行器的规划飞行。例如，这可以包括使飞行器紧急着陆或者为飞行器选择挑战性较小的姿态(profile)。In an example,method 900 also includes changing the planned flight of the aircraft in response to determining the mechanical rupture. For example, this may include making an emergency landing of the aircraft or selecting a less challenging profile for the aircraft.

上面参考图1、图2、图3、图4、图5A、图5B、图6A、图6B、图7、图8A和图8B描述的其他功能也可以包括在方法900中。此外，下面关于图10描述的方法1000的方面可以替换、结合或补充方法900的各方面。Other functions described above with reference to FIGS. 1 , 2 , 3 , 4 , 5A, 5B, 6A, 6B, 7 , 8A, and 8B may also be included inmethod 900 . Furthermore, aspects ofmethod 1000 described below with respect to FIG. 10 may replace, combine or supplement aspects ofmethod 900 .

图10是根据示例的方法的框图。特别地，图10示出了方法1000。方法1000可以由上面关于图1、图2、图3、图4、图5A、图5B、图6A、图6B、图7、图8A或图8B描述的任何系统来执行。10 is a block diagram of a method according to an example. In particular, FIG. 10 illustratesmethod 1000 .Method 1000 may be performed by any of the systems described above with respect to Figures 1, 2, 3, 4, 5A, 5B, 6A, 6B, 7, 8A, or 8B.

此外，对于图10所示的方法和本文公开的其他过程和方法，流程图示出了本实施例的一种可能实施方式的功能和操作。在这点上，一些框可以表示模块、程序代码段或程序代码的一部分，其包括可由处理器执行的一个或多个指令，用于实现过程中的特定逻辑功能或步骤。程序代码可以存储在任何类型的计算机可读介质(例如像包括盘或硬盘驱动器的存储设备)上。计算机可读介质可以包括非暂时性的计算机可读介质，例如，像寄存器存储器、处理器高速缓存和随机存取存储器(RAM)的短时间段存储数据的计算机可读介质。计算机可读介质还可以包括非暂时性介质，诸如二级或永久长期存储器，例如像只读存储器(ROM)、光盘或磁盘、光盘只读存储器(CD-ROM)。计算机可读介质也可以是任何其他易失性或非易失性存储系统。例如，计算机可读介质可以被认为是计算机可读存储介质、有形存储设备或其他制品。Additionally, for the method shown in FIG. 10 and other processes and methods disclosed herein, a flowchart illustrates the functionality and operation of one possible implementation of this embodiment. In this regard, some blocks may represent modules, segments of program code, or portions of program code, which comprise one or more instructions executable by a processor for implementing specified logical functions or steps in the processes. The program code may be stored on any type of computer-readable medium such as, for example, storage devices including disks or hard drives. Computer readable media may include non-transitory computer readable media such as, for example, register memory, processor cache, and random access memory (RAM), which store data for short periods of time. Computer readable media may also include non-transitory media such as secondary or persistent long-term storage such as, for example, read only memory (ROM), optical or magnetic disks, compact disk read only memory (CD-ROM). The computer readable medium can also be any other volatile or nonvolatile storage system. For example, computer-readable media may be considered computer-readable storage media, tangible storage devices, or other articles of manufacture.

此外，对于在本文中公开的方法和其他过程和方法，图10中的每个框可以表示被连线以执行该过程中的特定逻辑功能的电路。Furthermore, for the methods and other processes and methods disclosed herein, each block in FIG. 10 may represent a circuit that is wired to perform a particular logical function in the process.

在框1002中，方法1000包括在第一时间处对与结合到系统的结构构件中的导电特征相关联的采样节点处的第一电压电平进行采样。例如，这可以根据图6A、图7和图8A及其对应的描述来执行。Inblock 1002, themethod 1000 includes sampling, at a first time, a first voltage level at a sampling node associated with a conductive feature incorporated into a structural member of the system. For example, this may be performed in accordance with Figures 6A, 7 and 8A and their corresponding descriptions.

在框1004中，方法1000包括基于第一电压水平确定结构构件的第一状态。例如，这可以根据图6A、图7和图8A及其对应的描述来执行。Atblock 1004, themethod 1000 includes determining a first state of the structural member based on the first voltage level. For example, this may be performed in accordance with Figures 6A, 7 and 8A and their corresponding descriptions.

在框1006中，方法1000包括在第二时间处对采样节点处的第二电压电平进行采样，其中第二电压电平不同于第一电压电平。例如，这可以根据图6B、图7和图8B及其对应的描述来执行。Atblock 1006, themethod 1000 includes sampling a second voltage level at the sampling node at a second time, wherein the second voltage level is different from the first voltage level. For example, this may be performed in accordance with Figures 6B, 7 and 8B and their corresponding descriptions.

在框1008中，方法1000包括基于第二电压电平不同于第一电压电平来确定与导电特征相关联的改变。例如，这可以根据图6B、图7和图8B及其对应的描述来执行。Inblock 1008, themethod 1000 includes determining a change associated with the conductive characteristic based on the second voltage level being different from the first voltage level. For example, this may be performed in accordance with Figures 6B, 7 and 8B and their corresponding descriptions.

在框1010中，方法1000包括基于(i)确定与导电特征相关联的改变，(ii)导电特征被结合到结构构件中，检测结构构件的第二状态。例如，这可以根据图6B、图7和图8B及其对应的描述来执行。Inblock 1010, themethod 1000 includes detecting a second state of the structural member based on (i) determining a change associated with the conductive feature, (ii) the conductive feature being incorporated into the structural member. For example, this may be performed in accordance with Figures 6B, 7 and 8B and their corresponding descriptions.

上面参考图1、图2、图3、图4、图5A、图5B、图6A、图6B、图7、图8A和图8B描述的其他功能也可以包括在方法1000中。此外，上面关于图9描述的方法900的各方面可以替换、结合或补充方法1000的各方面。Other functions described above with reference to FIGS. 1 , 2 , 3 , 4 , 5A, 5B, 6A, 6B, 7 , 8A, and 8B may also be included inmethod 1000 . Furthermore, aspects ofmethod 900 described above with respect to FIG. 9 may replace, combine, or supplement aspects ofmethod 1000 .

VI.结论VI. Conclusion

附图中所示的特定布置不应被视为限制性的。应当理解，其他实施方式可以包括给定附图中所示的每个元件中的更多或更少。此外，一些示出的元件可以被组合或省略。此外，示例实施方式可以包括附图中未示出的元件。The specific arrangements shown in the figures should not be regarded as limiting. It should be understood that other implementations may include more or less of each element shown in a given figure. Furthermore, some of the illustrated elements may be combined or omitted. Furthermore, example embodiments may include elements not shown in the accompanying drawings.

附加地，虽然本文已经公开了各个方面和实施方式，但是其他方面和实施方式对于本领域技术人员来说将是清晰的。本文公开的各个方面和实施方式是为了说明的目的，而不旨在是限制性的，并且真实的范围和精神由所附权利要求指示。在不脱离本文呈现的主题的精神或范围的情况下，可以利用其他实施方式，并且可以进行其他改变。将容易理解的是，如在本文中一般描述的和在附图中示出的，本公开的各方面可以以多种不同的配置来布置、替换、组合、分开和设计，所有这些在本文中都是考虑在内的。Additionally, while various aspects and embodiments have been disclosed herein, other aspects and embodiments will be apparent to those skilled in the art. The various aspects and embodiments disclosed herein are for illustrative purposes and are not intended to be limiting, and the true scope and spirit are indicated by the appended claims. Other embodiments may be utilized, and other changes may be made, without departing from the spirit or scope of the subject matter presented herein. It will be readily understood that, as generally described herein and illustrated in the accompanying drawings, aspects of the present disclosure may be arranged, substituted, combined, divided and designed in a variety of different configurations, all of which are herein are all taken into account.

Claims (20)

1. An aircraft, comprising:

a power circuit;

an operating member configured to move in response to receiving power or a control signal from the power circuit;

a structural member configured to stabilize one or more operational members of the aircraft; and

a coupling member configured to secure the operating member to the structural member at a contact point, wherein the coupling member comprises a conductive material incorporated into a power circuit between the first and second terminals, and wherein mechanical rupture of the coupling member results in:

(i) the operating member becomes unsecured from the structural member at the point of contact; and

(ii) an electrical disconnection between the first terminal and the second terminal, wherein the electrical disconnection stops the power or the control signal and thereby stops the operating member from moving.

2. The aircraft of claim 1, wherein the coupling member comprises a screw, and wherein the mechanical disruption corresponds to one or more of: threading of a thread slip associated with the screw, shear fracture of the screw, and pulling of the screw through a structural member.

3. The aerial vehicle of claim 2, wherein the operating member comprises a motor configured to move a propeller, wherein the structural member comprises a cantilever, wherein threading of a thread runner associated with the screw results in:

(i) the motor becomes unsecured from the cantilever, and

(ii) the electrical disconnect stops the propeller from moving.

4. The aircraft of claim 1, wherein the power circuit comprises a power bus connected to a power source, wherein the first terminal is connected to the power bus, wherein the second terminal is connected to a power input of the operating member, wherein the power or control signal comprises an input voltage received from the power bus via the structural member, and wherein the mechanical rupture causes the second terminal to disconnect from the input voltage.

5. The aircraft of claim 1, wherein the operating member comprises a controller configured to receive power or a control signal, wherein the power or control signal is used as an input to the controller such that the controller controls movement of the operating member, and wherein the electrical disconnection corresponds to an input that causes the controller to stop movement of the operating member.

6. The aircraft of claim 1, further comprising a computing device, wherein the power circuit comprises a fault detection circuit, wherein the electrical disconnection corresponds to a fault detection circuit open, and wherein the computing device is configured to detect a mechanical breach based on a fault detection circuit open.

7. The aircraft of claim 6, wherein the computing device is further configured to:

stopping movement of the operating member in response to detecting the mechanical rupture; and

changing operation of one or more other operating members based on causing the operating member to stop moving.

8. The aircraft of claim 7, wherein the fault detection circuit is associated with a type of operating member, and wherein changing the operation of the one or more other operating members is based on the type of operating member.

9. The aircraft of claim 6, wherein the computing device is further configured to determine a mechanical disruption based on a vibration profile of the structural member; and

the vibration profile is verified based on a fault detection loop open.

10. The aircraft of claim 6, wherein the computing device is further configured to update a maintenance schedule for the aircraft based on the fault detection loop opening.

11. The aircraft of claim 6, wherein the computing device is further configured to alter the planned flight of the aircraft in response to determining the mechanical breach.

12. A method, comprising:

causing an operating member of the system to move;

driving power or control signals through a conductive coupling member, wherein the conductive coupling member is connected between a first terminal and a second terminal in a power circuit, and wherein the coupling member secures an operating member to a structural member of a system;

detecting an electrical disconnection between the first terminal and the second terminal;

determining a mechanical break associated with the coupling member based on an electrical disconnection between the first terminal and the second terminal; and

based on determining the mechanical rupture associated with the coupling member, an operating member of the system is stopped from moving.

13. The method of claim 12, wherein the electrical disconnection corresponds to a fault detection circuit opening of the operating member, and wherein determining the mechanical break comprises determining an increase in voltage at the first terminal corresponding to the fault detection circuit opening.

14. The method of claim 12, wherein the power or control signal comprises a Pulse Width Modulation (PWM) signal or a Controller Area Network (CAN) signal used as an input to a controller of the operating member, and wherein detecting the electrical disconnection comprises detecting, by the controller of the operating member, that the PWM signal or the CAN signal is not received.

15. The method of claim 12, further comprising:

changing operation of one or more other operating members based on causing the operating member to stop moving.

16. The method of claim 15, wherein the fault detection circuit is associated with a type of operating member, and wherein changing the operation of the one or more other operating members is based on the type of operating member.

17. The method of claim 12, further comprising:

determining a mechanical fracture based on a vibration profile of the structural member; and

the vibration profile is verified based on a fault detection loop open.

18. The method of claim 12, further comprising:

the maintenance schedule of the system is updated based on the fault detection loop opening.

19. A system, comprising:

a power circuit;

a plurality of operating members configured to move in response to receiving respective power or control signals from the power circuit;

one or more structural members configured to stabilize the plurality of operating members; and

a plurality of coupling members configured to secure a plurality of operating members to one or more structural members at a plurality of contact points, wherein each respective coupling member of the plurality of coupling members comprises a conductive material incorporated into a power circuit between a respective first terminal and a respective second terminal, and wherein mechanical rupture of the respective coupling member results in:

(i) the respective operating member corresponding to the respective coupling member becomes unsecured from the respective structural member at the respective contact point; and

(ii) an electrical disconnection between the respective first terminal and the respective second terminal, wherein the electrical disconnection stops the respective power or control signal from reaching the respective operating member and thereby stops the respective operating member from moving.

20. The system of claim 18, further comprising a power source, wherein the power circuit comprises a power bus connected to the power source, wherein each respective first terminal is connected to the power bus, wherein each respective second terminal is connected to a power input of a corresponding operating member, wherein each respective power or control signal comprises an input voltage received from the power bus via a corresponding structural member, and wherein the mechanical disruption causes the respective second terminal to disconnect from the input voltage.

Images